From 1c3686ca51866308d08c97a747eb34a7c450b0c1 Mon Sep 17 00:00:00 2001 From: Lunkhound Date: Tue, 27 Sep 2016 00:01:45 -0700 Subject: [PATCH 001/102] MultiThreaded Demo: - fixing various race conditions throughout (usage of static vars, etc) - addition of a few lightweight mutexes (which are compiled out by default) - slight code rearrangement in discreteDynamicsWorld to facilitate multithreading - PoolAllocator::allocate() can now be called when pool is full without crashing (null pointer returned) - PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe (default is un-threadsafe) - CollisionDispatcher no longer checks if the pool allocator is full before calling allocate(), instead it just calls allocate() and checks if the return is null -- this avoids a race condition - SequentialImpulseConstraintSolver OPTIONALLY uses different logic in getOrInitSolverBody() to avoid a race condition with kinematic bodies - addition of 2 classes which together allow simulation islands to be run in parallel: - btSimulationIslandManagerMt - btDiscreteDynamicsWorldMt - MultiThreadedDemo example in the example browser demonstrating use of OpenMP, Microsoft PPL, and Intel TBB - use multithreading for other demos - benchmark demo: add parallel raycasting --- CMakeLists.txt | 19 +- examples/BasicDemo/CMakeLists.txt | 3 + examples/BasicDemo/premake4.lua | 7 +- examples/Benchmarks/BenchmarkDemo.cpp | 108 ++- .../CommonGraphicsAppInterface.h | 2 +- .../CommonInterfaces/CommonRigidBodyBase.cpp | 855 ++++++++++++++++++ .../CommonInterfaces/CommonRigidBodyBase.h | 49 +- examples/CommonInterfaces/ParallelFor.h | 336 +++++++ examples/ExampleBrowser/CMakeLists.txt | 43 + examples/ExampleBrowser/ExampleEntries.cpp | 9 +- examples/ExampleBrowser/premake4.lua | 1 + examples/ExtendedTutorials/premake4.lua | 4 + .../MultiThreadedDemo/MultiThreadedDemo.cpp | 229 +++++ .../MultiThreadedDemo/MultiThreadedDemo.h | 22 + examples/OpenGLWindow/SimpleOpenGL2App.cpp | 2 +- examples/OpenGLWindow/SimpleOpenGL2App.h | 2 +- examples/OpenGLWindow/SimpleOpenGL3App.cpp | 4 +- examples/OpenGLWindow/SimpleOpenGL3App.h | 2 +- .../BroadphaseCollision/btDbvt.h | 6 +- .../BroadphaseCollision/btDbvtBroadphase.cpp | 25 + .../BroadphaseCollision/btDbvtBroadphase.h | 1 + src/BulletCollision/CMakeLists.txt | 2 + .../btCollisionDispatcher.cpp | 24 +- .../CollisionDispatch/btCollisionObject.h | 13 +- .../btConvexConvexAlgorithm.cpp | 10 +- .../btConvexConvexAlgorithm.h | 8 +- .../btDefaultCollisionConfiguration.cpp | 9 +- .../btDefaultCollisionConfiguration.h | 9 +- .../btSimulationIslandManagerMt.cpp | 641 +++++++++++++ .../btSimulationIslandManagerMt.h | 109 +++ .../Gimpact/btGImpactShape.cpp | 53 ++ src/BulletCollision/Gimpact/btGImpactShape.h | 28 +- src/BulletDynamics/CMakeLists.txt | 2 + .../btSequentialImpulseConstraintSolver.cpp | 63 +- .../btSequentialImpulseConstraintSolver.h | 8 + .../Dynamics/btDiscreteDynamicsWorld.cpp | 65 +- .../Dynamics/btDiscreteDynamicsWorld.h | 7 +- .../Dynamics/btDiscreteDynamicsWorldMt.cpp | 168 ++++ .../Dynamics/btDiscreteDynamicsWorldMt.h | 44 + .../MLCPSolvers/btMLCPSolver.cpp | 14 +- src/BulletDynamics/MLCPSolvers/btMLCPSolver.h | 11 + src/LinearMath/CMakeLists.txt | 2 + src/LinearMath/btAlignedObjectArray.h | 2 +- src/LinearMath/btConvexHull.cpp | 4 +- src/LinearMath/btPoolAllocator.h | 15 +- src/LinearMath/btQuickprof.cpp | 19 + src/LinearMath/btThreads.cpp | 230 +++++ src/LinearMath/btThreads.h | 76 ++ 48 files changed, 3168 insertions(+), 197 deletions(-) create mode 100644 examples/CommonInterfaces/CommonRigidBodyBase.cpp create mode 100644 examples/CommonInterfaces/ParallelFor.h create mode 100644 examples/MultiThreadedDemo/MultiThreadedDemo.cpp create mode 100644 examples/MultiThreadedDemo/MultiThreadedDemo.h create mode 100644 src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp create mode 100644 src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h create mode 100644 src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp create mode 100644 src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h create mode 100644 src/LinearMath/btThreads.cpp create mode 100644 src/LinearMath/btThreads.h diff --git a/CMakeLists.txt b/CMakeLists.txt index acc474da3..0f7daee05 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -28,6 +28,7 @@ OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF) OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON) OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF) OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF) +OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF) OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF) OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF) @@ -155,6 +156,13 @@ IF(USE_GRAPHICAL_BENCHMARK) ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK) ENDIF (USE_GRAPHICAL_BENCHMARK) +IF(BULLET2_USE_THREAD_LOCKS) + ADD_DEFINITIONS( -DBT_THREADSAFE=1 ) + IF (NOT MSVC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + ENDIF (NOT MSVC) +ENDIF (BULLET2_USE_THREAD_LOCKS) + IF (WIN32) OPTION(USE_GLUT "Use Glut" ON) ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS ) @@ -195,8 +203,6 @@ ENDIF (OPENGL_FOUND) #FIND_PACKAGE(GLU) - - IF (APPLE) FIND_LIBRARY(COCOA_LIBRARY Cocoa) ENDIF() @@ -264,6 +270,15 @@ IF(BUILD_BULLET2_DEMOS) IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples) SUBDIRS(examples) ENDIF() + + IF (BULLET2_USE_THREAD_LOCKS) + OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF) + OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF) + IF (MSVC) + OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF) + ENDIF (MSVC) + ENDIF (BULLET2_USE_THREAD_LOCKS) + ENDIF(BUILD_BULLET2_DEMOS) diff --git a/examples/BasicDemo/CMakeLists.txt b/examples/BasicDemo/CMakeLists.txt index f01a03a51..932e39330 100644 --- a/examples/BasicDemo/CMakeLists.txt +++ b/examples/BasicDemo/CMakeLists.txt @@ -12,12 +12,14 @@ IF (WIN32) ADD_EXECUTABLE(App_BasicExample BasicExample.cpp main.cpp + ../CommonInterfaces/CommonRigidBodyBase.cpp ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc ) ELSE() ADD_EXECUTABLE(App_BasicExample BasicExample.cpp main.cpp + ../CommonInterfaces/CommonRigidBodyBase.cpp ) ENDIF() @@ -53,6 +55,7 @@ SET(AppBasicExampleGui_SRCS ../ExampleBrowser/OpenGLGuiHelper.cpp ../ExampleBrowser/GL_ShapeDrawer.cpp ../ExampleBrowser/CollisionShape2TriangleMesh.cpp + ../CommonInterfaces/CommonRigidBodyBase.cpp ../Utils/b3Clock.cpp ) diff --git a/examples/BasicDemo/premake4.lua b/examples/BasicDemo/premake4.lua index dd924249e..2faa974cd 100644 --- a/examples/BasicDemo/premake4.lua +++ b/examples/BasicDemo/premake4.lua @@ -18,6 +18,7 @@ language "C++" files { "**.cpp", "**.h", + "../CommonInterfaces/*", } @@ -49,6 +50,7 @@ files { "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../Utils/b3Clock.cpp", "../Utils/b3Clock.h", } @@ -90,6 +92,7 @@ files { "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", "../TinyRenderer/tgaimage.cpp", @@ -130,6 +133,7 @@ files { "*.h", "../StandaloneMain/main_tinyrenderer_single_example.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../OpenGLWindow/SimpleCamera.cpp", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", @@ -175,6 +179,7 @@ files { "BasicExample.cpp", "*.h", "../StandaloneMain/hellovr_opengl_main.cpp", + "../CommonInterfaces/*", "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", @@ -200,4 +205,4 @@ if os.is("MacOSX") then links{"Cocoa.framework"} end -end \ No newline at end of file +end diff --git a/examples/Benchmarks/BenchmarkDemo.cpp b/examples/Benchmarks/BenchmarkDemo.cpp index f659d017c..0eee37149 100644 --- a/examples/Benchmarks/BenchmarkDemo.cpp +++ b/examples/Benchmarks/BenchmarkDemo.cpp @@ -32,10 +32,12 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" +#include "../CommonInterfaces/ParallelFor.h" class btDynamicsWorld; #define NUMRAYS 500 +#define USE_PARALLEL_RAYCASTS 1 class btRigidBody; class btBroadphaseInterface; @@ -204,7 +206,39 @@ public: sign = -1.0; } - void cast (btCollisionWorld* cw) + void castRays( btCollisionWorld* cw, int iBegin, int iEnd ) + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]); + + cw->rayTest (source[i], dest[i], cb); + if (cb.hasHit ()) + { + hit[i] = cb.m_hitPointWorld; + normal[i] = cb.m_hitNormalWorld; + normal[i].normalize (); + } else { + hit[i] = dest[i]; + normal[i] = btVector3(1.0, 0.0, 0.0); + } + + } + } + + struct CastRaysLoopBody + { + btRaycastBar2* mRaycasts; + btCollisionWorld* mWorld; + CastRaysLoopBody(btCollisionWorld* cw, btRaycastBar2* rb) : mWorld(cw), mRaycasts(rb) {} + + void forLoop( int iBegin, int iEnd ) const + { + mRaycasts->castRays(mWorld, iBegin, iEnd); + } + }; + + void cast (btCollisionWorld* cw, bool multiThreading = false) { #ifdef USE_BT_CLOCK frame_timer.reset (); @@ -228,22 +262,19 @@ public: normal[i].normalize (); } #else - for (int i = 0; i < NUMRAYS; i++) - { - btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]); - - cw->rayTest (source[i], dest[i], cb); - if (cb.hasHit ()) - { - hit[i] = cb.m_hitPointWorld; - normal[i] = cb.m_hitNormalWorld; - normal[i].normalize (); - } else { - hit[i] = dest[i]; - normal[i] = btVector3(1.0, 0.0, 0.0); - } - - } +#if USE_PARALLEL_RAYCASTS + if ( multiThreading ) + { + CastRaysLoopBody rayLooper(cw, this); + int grainSize = 20; // number of raycasts per task + parallelFor( 0, NUMRAYS, grainSize, rayLooper ); + } + else +#endif // USE_PARALLEL_RAYCASTS + { + // single threaded + castRays(cw, 0, NUMRAYS); + } #ifdef USE_BT_CLOCK ms += frame_timer.getTimeMilliseconds (); #endif //USE_BT_CLOCK @@ -354,42 +385,43 @@ void BenchmarkDemo::initPhysics() setCameraDistance(btScalar(100.)); - ///collision configuration contains default setup for memory, collision setup - btDefaultCollisionConstructionInfo cci; - cci.m_defaultMaxPersistentManifoldPoolSize = 32768; - m_collisionConfiguration = new btDefaultCollisionConfiguration(cci); + createEmptyDynamicsWorld(); + /////collision configuration contains default setup for memory, collision setup + //btDefaultCollisionConstructionInfo cci; + //cci.m_defaultMaxPersistentManifoldPoolSize = 32768; + //m_collisionConfiguration = new btDefaultCollisionConfiguration(cci); - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); + /////use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) + //m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); + // + //m_dispatcher->setDispatcherFlags(btCollisionDispatcher::CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION); - ///the maximum size of the collision world. Make sure objects stay within these boundaries - ///Don't make the world AABB size too large, it will harm simulation quality and performance - btVector3 worldAabbMin(-1000,-1000,-1000); - btVector3 worldAabbMax(1000,1000,1000); - - btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache(); - m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache); + /////the maximum size of the collision world. Make sure objects stay within these boundaries + /////Don't make the world AABB size too large, it will harm simulation quality and performance + //btVector3 worldAabbMin(-1000,-1000,-1000); + //btVector3 worldAabbMax(1000,1000,1000); + // + //btHashedOverlappingPairCache* pairCache = new btHashedOverlappingPairCache(); + //m_broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,3500,pairCache); // m_broadphase = new btSimpleBroadphase(); // m_broadphase = new btDbvtBroadphase(); ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) - btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; + //btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; - m_solver = sol; + //m_solver = sol; - btDiscreteDynamicsWorld* dynamicsWorld; - m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); + //btDiscreteDynamicsWorld* dynamicsWorld; + //m_dynamicsWorld = dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration); ///the following 3 lines increase the performance dramatically, with a little bit of loss of quality m_dynamicsWorld->getSolverInfo().m_solverMode |=SOLVER_ENABLE_FRICTION_DIRECTION_CACHING; //don't recalculate friction values each frame - dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations + m_dynamicsWorld->getSolverInfo().m_numIterations = 5; //few solver iterations //m_defaultContactProcessingThreshold = 0.f;//used when creating bodies: body->setContactProcessingThreshold(...); m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); @@ -1242,7 +1274,7 @@ void BenchmarkDemo::initRays() void BenchmarkDemo::castRays() { - raycastBar.cast (m_dynamicsWorld); + raycastBar.cast (m_dynamicsWorld, m_multithreadedWorld); } void BenchmarkDemo::createTest7() diff --git a/examples/CommonInterfaces/CommonGraphicsAppInterface.h b/examples/CommonInterfaces/CommonGraphicsAppInterface.h index 674807de8..31f0f51ce 100644 --- a/examples/CommonInterfaces/CommonGraphicsAppInterface.h +++ b/examples/CommonInterfaces/CommonGraphicsAppInterface.h @@ -120,7 +120,7 @@ struct CommonGraphicsApp virtual int getUpAxis() const = 0; virtual void swapBuffer() = 0; - virtual void drawText( const char* txt, int posX, int posY) = 0; + virtual void drawText( const char* txt, int posX, int posY, float size = 1.0f) = 0; virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0; virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0; virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)=0; diff --git a/examples/CommonInterfaces/CommonRigidBodyBase.cpp b/examples/CommonInterfaces/CommonRigidBodyBase.cpp new file mode 100644 index 000000000..9ae25c9ed --- /dev/null +++ b/examples/CommonInterfaces/CommonRigidBodyBase.cpp @@ -0,0 +1,855 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btIDebugDraw.h" + +#include +#include + +class btCollisionShape; + +#include "CommonExampleInterface.h" +#include "CommonRigidBodyBase.h" +#include "CommonParameterInterface.h" +#include "CommonGUIHelperInterface.h" +#include "CommonRenderInterface.h" +#include "CommonWindowInterface.h" +#include "CommonGraphicsAppInterface.h" +#include "ParallelFor.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btPoolAllocator.h" +#include "btBulletCollisionCommon.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h" // for setSplitIslands() +#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" + +TaskManager gTaskMgr; + +#define USE_PARALLEL_NARROWPHASE 1 // detect collisions in parallel +#define USE_PARALLEL_ISLAND_SOLVER 1 // solve simulation islands in parallel +#define USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS 1 +#define USE_PARALLEL_INTEGRATE_TRANSFORMS 1 +#define USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION 1 + +#if defined (_MSC_VER) && _MSC_VER >= 1600 +// give us a compile error if any signatures of overriden methods is changed +#define BT_OVERRIDE override +#else +#define BT_OVERRIDE +#endif + + +class Profiler +{ +public: + enum RecordType + { + kRecordInternalTimeStep, + kRecordDispatchAllCollisionPairs, + kRecordDispatchIslands, + kRecordPredictUnconstrainedMotion, + kRecordCreatePredictiveContacts, + kRecordIntegrateTransforms, + kRecordCount + }; + +private: + btClock mClock; + + struct Record + { + int mCallCount; + unsigned long long mAccum; + unsigned int mStartTime; + unsigned int mHistory[8]; + + void begin(unsigned int curTime) + { + mStartTime = curTime; + } + void end(unsigned int curTime) + { + unsigned int endTime = curTime; + unsigned int elapsed = endTime - mStartTime; + mAccum += elapsed; + mHistory[ mCallCount & 7 ] = elapsed; + ++mCallCount; + } + float getAverageTime() const + { + int count = btMin( 8, mCallCount ); + if ( count > 0 ) + { + unsigned int sum = 0; + for ( int i = 0; i < count; ++i ) + { + sum += mHistory[ i ]; + } + float avg = float( sum ) / float( count ); + return avg; + } + return 0.0; + } + }; + Record mRecords[ kRecordCount ]; + +public: + void begin(RecordType rt) + { + mRecords[rt].begin(mClock.getTimeMicroseconds()); + } + void end(RecordType rt) + { + mRecords[rt].end(mClock.getTimeMicroseconds()); + } + float getAverageTime(RecordType rt) const + { + return mRecords[rt].getAverageTime(); + } +}; + + +Profiler gProfiler; + +class ProfileHelper +{ + Profiler::RecordType mRecType; +public: + ProfileHelper(Profiler::RecordType rt) + { + mRecType = rt; + gProfiler.begin( mRecType ); + } + ~ProfileHelper() + { + gProfiler.end( mRecType ); + } +}; + +int gThreadsRunningCounter = 0; +btSpinMutex gThreadsRunningCounterMutex; + +void btPushThreadsAreRunning() +{ + gThreadsRunningCounterMutex.lock(); + gThreadsRunningCounter++; + gThreadsRunningCounterMutex.unlock(); +} + +void btPopThreadsAreRunning() +{ + gThreadsRunningCounterMutex.lock(); + gThreadsRunningCounter--; + gThreadsRunningCounterMutex.unlock(); +} + +bool btThreadsAreRunning() +{ + return gThreadsRunningCounter != 0; +} + + +#if USE_PARALLEL_NARROWPHASE + +class MyCollisionDispatcher : public btCollisionDispatcher +{ + btSpinMutex m_manifoldPtrsMutex; + +public: + MyCollisionDispatcher( btCollisionConfiguration* config ) : btCollisionDispatcher( config ) + { + } + + virtual ~MyCollisionDispatcher() + { + } + + btPersistentManifold* getNewManifold( const btCollisionObject* body0, const btCollisionObject* body1 ) BT_OVERRIDE + { + // added spin-locks + //optional relative contact breaking threshold, turned on by default (use setDispatcherFlags to switch off feature for improved performance) + + btScalar contactBreakingThreshold = ( m_dispatcherFlags & btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD ) ? + btMin( body0->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ), body1->getCollisionShape()->getContactBreakingThreshold( gContactBreakingThreshold ) ) + : gContactBreakingThreshold; + + btScalar contactProcessingThreshold = btMin( body0->getContactProcessingThreshold(), body1->getContactProcessingThreshold() ); + + void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) ); + if (NULL == mem) + { + //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert. + if ( ( m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION ) == 0 ) + { + mem = btAlignedAlloc( sizeof( btPersistentManifold ), 16 ); + } + else + { + btAssert( 0 ); + //make sure to increase the m_defaultMaxPersistentManifoldPoolSize in the btDefaultCollisionConstructionInfo/btDefaultCollisionConfiguration + return 0; + } + } + btPersistentManifold* manifold = new(mem) btPersistentManifold( body0, body1, 0, contactBreakingThreshold, contactProcessingThreshold ); + m_manifoldPtrsMutex.lock(); + manifold->m_index1a = m_manifoldsPtr.size(); + m_manifoldsPtr.push_back( manifold ); + m_manifoldPtrsMutex.unlock(); + + return manifold; + } + + void releaseManifold( btPersistentManifold* manifold ) BT_OVERRIDE + { + clearManifold( manifold ); + + m_manifoldPtrsMutex.lock(); + int findIndex = manifold->m_index1a; + btAssert( findIndex < m_manifoldsPtr.size() ); + m_manifoldsPtr.swap( findIndex, m_manifoldsPtr.size() - 1 ); + m_manifoldsPtr[ findIndex ]->m_index1a = findIndex; + m_manifoldsPtr.pop_back(); + m_manifoldPtrsMutex.unlock(); + + manifold->~btPersistentManifold(); + if ( m_persistentManifoldPoolAllocator->validPtr( manifold ) ) + { + m_persistentManifoldPoolAllocator->freeMemory( manifold ); + } + else + { + btAlignedFree( manifold ); + } + } + + struct Updater + { + btBroadphasePair* mPairArray; + btNearCallback mCallback; + btCollisionDispatcher* mDispatcher; + const btDispatcherInfo* mInfo; + + Updater() + { + mPairArray = NULL; + mCallback = NULL; + mDispatcher = NULL; + mInfo = NULL; + } + void forLoop( int iBegin, int iEnd ) const + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btBroadphasePair* pair = &mPairArray[ i ]; + mCallback( *pair, *mDispatcher, *mInfo ); + } + } + }; + + virtual void dispatchAllCollisionPairs( btOverlappingPairCache* pairCache, const btDispatcherInfo& info, btDispatcher* dispatcher ) BT_OVERRIDE + { + ProfileHelper prof(Profiler::kRecordDispatchAllCollisionPairs); + int grainSize = 40; // iterations per task + int pairCount = pairCache->getNumOverlappingPairs(); + Updater updater; + updater.mCallback = getNearCallback(); + updater.mPairArray = pairCount > 0 ? pairCache->getOverlappingPairArrayPtr() : NULL; + updater.mDispatcher = this; + updater.mInfo = &info; + + btPushThreadsAreRunning(); + parallelFor( 0, pairCount, grainSize, updater ); + btPopThreadsAreRunning(); + + if (m_manifoldsPtr.size() < 1) + return; + + // reconstruct the manifolds array to ensure determinism + m_manifoldsPtr.resizeNoInitialize(0); + btBroadphasePair* pairs = pairCache->getOverlappingPairArrayPtr(); + for (int i = 0; i < pairCount; ++i) + { + btCollisionAlgorithm* algo = pairs[i].m_algorithm; + if (algo) algo->getAllContactManifolds(m_manifoldsPtr); + } + + // update the indices (used when releasing manifolds) + for (int i = 0; i < m_manifoldsPtr.size(); ++i) + m_manifoldsPtr[i]->m_index1a = i; + } +}; + +#endif + + +#if USE_PARALLEL_ISLAND_SOLVER +/// +/// MyConstraintSolverPool - masquerades as a constraint solver, but really it is a threadsafe pool of them. +/// +/// Each solver in the pool is protected by a mutex. When solveGroup is called from a thread, +/// the pool looks for a solver that isn't being used by another thread, locks it, and dispatches the +/// call to the solver. +/// So long as there are at least as many solvers as there are hardware threads, it should never need to +/// spin wait. +/// +class MyConstraintSolverPool : public btConstraintSolver +{ + const static size_t kCacheLineSize = 128; + struct ThreadSolver + { + btConstraintSolver* solver; + btSpinMutex mutex; + char _cachelinePadding[ kCacheLineSize - sizeof( btSpinMutex ) - sizeof( void* ) ]; // keep mutexes from sharing a cache line + }; + btAlignedObjectArray m_solvers; + btConstraintSolverType m_solverType; + + ThreadSolver* getAndLockThreadSolver() + { + while ( true ) + { + for ( int i = 0; i < m_solvers.size(); ++i ) + { + ThreadSolver& solver = m_solvers[ i ]; + if ( solver.mutex.tryLock() ) + { + return &solver; + } + } + } + return NULL; + } + void init( btConstraintSolver** solvers, int numSolvers ) + { + m_solverType = BT_SEQUENTIAL_IMPULSE_SOLVER; + m_solvers.resize( numSolvers ); + for ( int i = 0; i < numSolvers; ++i ) + { + m_solvers[ i ].solver = solvers[ i ]; + } + if ( numSolvers > 0 ) + { + m_solverType = solvers[ 0 ]->getSolverType(); + } + } +public: + // create the solvers for me + explicit MyConstraintSolverPool( int numSolvers ) + { + btAlignedObjectArray solvers; + solvers.reserve( numSolvers ); + for ( int i = 0; i < numSolvers; ++i ) + { + btConstraintSolver* solver = new btSequentialImpulseConstraintSolver(); + solvers.push_back( solver ); + } + init( &solvers[ 0 ], numSolvers ); + } + + // pass in fully constructed solvers (destructor will delete them) + MyConstraintSolverPool( btConstraintSolver** solvers, int numSolvers ) + { + init( solvers, numSolvers ); + } + virtual ~MyConstraintSolverPool() + { + // delete all solvers + for ( int i = 0; i < m_solvers.size(); ++i ) + { + ThreadSolver& solver = m_solvers[ i ]; + delete solver.solver; + solver.solver = NULL; + } + } + + //virtual void prepareSolve( int /* numBodies */, int /* numManifolds */ ) { ; } // does nothing + + ///solve a group of constraints + virtual btScalar solveGroup( btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifolds, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + const btContactSolverInfo& info, + btIDebugDraw* debugDrawer, + btDispatcher* dispatcher + ) + { + ThreadSolver* solver = getAndLockThreadSolver(); + solver->solver->solveGroup( bodies, numBodies, manifolds, numManifolds, constraints, numConstraints, info, debugDrawer, dispatcher ); + solver->mutex.unlock(); + return 0.0f; + } + + //virtual void allSolved( const btContactSolverInfo& /* info */, class btIDebugDraw* /* debugDrawer */ ) { ; } // does nothing + + ///clear internal cached data and reset random seed + virtual void reset() + { + for ( int i = 0; i < m_solvers.size(); ++i ) + { + ThreadSolver& solver = m_solvers[ i ]; + solver.mutex.lock(); + solver.solver->reset(); + solver.mutex.unlock(); + } + } + + virtual btConstraintSolverType getSolverType() const + { + return m_solverType; + } +}; + +struct UpdateIslandDispatcher +{ + btAlignedObjectArray* islandsPtr; + btSimulationIslandManagerMt::IslandCallback* callback; + + void forLoop( int iBegin, int iEnd ) const + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btSimulationIslandManagerMt::Island* island = ( *islandsPtr )[ i ]; + btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; + btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; + callback->processIsland( &island->bodyArray[ 0 ], + island->bodyArray.size(), + manifolds, + island->manifoldArray.size(), + constraintsPtr, + island->constraintArray.size(), + island->id + ); + } + } +}; + +static int gNumIslands = 0; + +void parallelIslandDispatch( btAlignedObjectArray* islandsPtr, btSimulationIslandManagerMt::IslandCallback* callback ) +{ + ProfileHelper prof(Profiler::kRecordDispatchIslands); + gNumIslands = islandsPtr->size(); + int grainSize = 1; // iterations per task + UpdateIslandDispatcher dispatcher; + dispatcher.islandsPtr = islandsPtr; + dispatcher.callback = callback; + btPushThreadsAreRunning(); + parallelFor( 0, islandsPtr->size(), grainSize, dispatcher ); + btPopThreadsAreRunning(); +} +#endif //#if USE_PARALLEL_ISLAND_SOLVER + + +void profileBeginCallback(btDynamicsWorld *world, btScalar timeStep) +{ + gProfiler.begin(Profiler::kRecordInternalTimeStep); +} + +void profileEndCallback(btDynamicsWorld *world, btScalar timeStep) +{ + gProfiler.end(Profiler::kRecordInternalTimeStep); +} + +/// +/// MyDiscreteDynamicsWorld +/// +/// Should function exactly like btDiscreteDynamicsWorld. +/// 3 methods that iterate over all of the rigidbodies can run in parallel: +/// - predictUnconstraintMotion +/// - integrateTransforms +/// - createPredictiveContacts +/// +ATTRIBUTE_ALIGNED16( class ) MyDiscreteDynamicsWorld : public btDiscreteDynamicsWorldMt +{ + typedef btDiscreteDynamicsWorld ParentClass; + +protected: +#if USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION + struct UpdaterUnconstrainedMotion + { + btScalar timeStep; + btRigidBody** rigidBodies; + + void forLoop( int iBegin, int iEnd ) const + { + for ( int i = iBegin; i < iEnd; ++i ) + { + btRigidBody* body = rigidBodies[ i ]; + if ( !body->isStaticOrKinematicObject() ) + { + //don't integrate/update velocities here, it happens in the constraint solver + body->applyDamping( timeStep ); + body->predictIntegratedTransform( timeStep, body->getInterpolationWorldTransform() ); + } + } + } + }; + + virtual void predictUnconstraintMotion( btScalar timeStep ) BT_OVERRIDE + { + ProfileHelper prof( Profiler::kRecordPredictUnconstrainedMotion ); + BT_PROFILE( "predictUnconstraintMotion" ); + int grainSize = 50; // num of iterations per task for TBB + int bodyCount = m_nonStaticRigidBodies.size(); + UpdaterUnconstrainedMotion update; + update.timeStep = timeStep; + update.rigidBodies = bodyCount ? &m_nonStaticRigidBodies[ 0 ] : NULL; + btPushThreadsAreRunning(); + parallelFor( 0, bodyCount, grainSize, update ); + btPopThreadsAreRunning(); + } +#endif // #if USE_PARALLEL_PREDICT_UNCONSTRAINED_MOTION + +#if USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS + struct UpdaterCreatePredictiveContacts + { + btScalar timeStep; + btRigidBody** rigidBodies; + MyDiscreteDynamicsWorld* world; + + void forLoop( int iBegin, int iEnd ) const + { + world->createPredictiveContactsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep ); + } + }; + + virtual void createPredictiveContacts( btScalar timeStep ) + { + ProfileHelper prof( Profiler::kRecordCreatePredictiveContacts ); + releasePredictiveContacts(); + int grainSize = 50; // num of iterations per task for TBB or OPENMP + if ( int bodyCount = m_nonStaticRigidBodies.size() ) + { + UpdaterCreatePredictiveContacts update; + update.world = this; + update.timeStep = timeStep; + update.rigidBodies = &m_nonStaticRigidBodies[ 0 ]; + btPushThreadsAreRunning(); + parallelFor( 0, bodyCount, grainSize, update ); + btPopThreadsAreRunning(); + } + } +#endif // #if USE_PARALLEL_CREATE_PREDICTIVE_CONTACTS + +#if USE_PARALLEL_INTEGRATE_TRANSFORMS + struct UpdaterIntegrateTransforms + { + btScalar timeStep; + btRigidBody** rigidBodies; + MyDiscreteDynamicsWorld* world; + + void forLoop( int iBegin, int iEnd ) const + { + world->integrateTransformsInternal( &rigidBodies[ iBegin ], iEnd - iBegin, timeStep ); + } + }; + + virtual void integrateTransforms( btScalar timeStep ) BT_OVERRIDE + { + ProfileHelper prof( Profiler::kRecordIntegrateTransforms ); + BT_PROFILE( "integrateTransforms" ); + int grainSize = 50; // num of iterations per task for TBB or OPENMP + if ( int bodyCount = m_nonStaticRigidBodies.size() ) + { + UpdaterIntegrateTransforms update; + update.world = this; + update.timeStep = timeStep; + update.rigidBodies = &m_nonStaticRigidBodies[ 0 ]; + btPushThreadsAreRunning(); + parallelFor( 0, bodyCount, grainSize, update ); + btPopThreadsAreRunning(); + } + } +#endif // #if USE_PARALLEL_INTEGRATE_TRANSFORMS + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + MyDiscreteDynamicsWorld( btDispatcher* dispatcher, + btBroadphaseInterface* pairCache, + btConstraintSolver* constraintSolver, + btCollisionConfiguration* collisionConfiguration + ) : + btDiscreteDynamicsWorldMt( dispatcher, pairCache, constraintSolver, collisionConfiguration ) + { + } + +}; + +static bool gMultithreadedWorld = false; +static bool gDisplayProfileInfo = false; +static btScalar gSliderNumThreads = 1.0f; // should be int + +//////////////////////////////////// +CommonRigidBodyBase::CommonRigidBodyBase( struct GUIHelperInterface* helper ) + :m_broadphase( 0 ), + m_dispatcher( 0 ), + m_solver( 0 ), + m_collisionConfiguration( 0 ), + m_dynamicsWorld( 0 ), + m_pickedBody( 0 ), + m_pickedConstraint( 0 ), + m_guiHelper( helper ) +{ + m_multithreadedWorld = false; + m_multithreadCapable = false; + gTaskMgr.init(); +} + +CommonRigidBodyBase::~CommonRigidBodyBase() +{ + gTaskMgr.shutdown(); +} + +void boolPtrButtonCallback(int buttonId, bool buttonState, void* userPointer) +{ + if (bool* val = static_cast(userPointer)) + { + *val = ! *val; + } +} + +void apiSelectButtonCallback(int buttonId, bool buttonState, void* userPointer) +{ + gTaskMgr.setApi(static_cast(buttonId)); + if (gTaskMgr.getApi()==TaskManager::apiNone) + { + gSliderNumThreads = 1.0f; + } + else + { + gSliderNumThreads = float(gTaskMgr.getNumThreads()); + } +} + +void setThreadCountCallback(float val) +{ + if (gTaskMgr.getApi()==TaskManager::apiNone) + { + gSliderNumThreads = 1.0f; + } + else + { + gTaskMgr.setNumThreads( int( gSliderNumThreads ) ); + gSliderNumThreads = float(gTaskMgr.getNumThreads()); + } +} + +void CommonRigidBodyBase::createEmptyDynamicsWorld() +{ + gNumIslands = 0; +#if BT_THREADSAFE && (BT_USE_OPENMP || BT_USE_PPL || BT_USE_TBB) + m_multithreadCapable = true; +#endif + if ( gMultithreadedWorld ) + { + m_dispatcher = NULL; + btDefaultCollisionConstructionInfo cci; + cci.m_defaultMaxPersistentManifoldPoolSize = 80000; + cci.m_defaultMaxCollisionAlgorithmPoolSize = 80000; + m_collisionConfiguration = new btDefaultCollisionConfiguration( cci ); + +#if USE_PARALLEL_NARROWPHASE + m_dispatcher = new MyCollisionDispatcher( m_collisionConfiguration ); +#else + m_dispatcher = new btCollisionDispatcher( m_collisionConfiguration ); +#endif //USE_PARALLEL_NARROWPHASE + + m_broadphase = new btDbvtBroadphase(); + +#if USE_PARALLEL_ISLAND_SOLVER + m_solver = new MyConstraintSolverPool( TaskManager::getMaxNumThreads() ); +#else + m_solver = new btSequentialImpulseConstraintSolver(); +#endif //#if USE_PARALLEL_ISLAND_SOLVER + btDiscreteDynamicsWorld* world = new MyDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration ); + m_dynamicsWorld = world; + +#if USE_PARALLEL_ISLAND_SOLVER + if ( btSimulationIslandManagerMt* islandMgr = dynamic_cast( world->getSimulationIslandManager() ) ) + { + islandMgr->setIslandDispatchFunction( parallelIslandDispatch ); + m_multithreadedWorld = true; + } +#endif //#if USE_PARALLEL_ISLAND_SOLVER + } + else + { + // single threaded world + m_multithreadedWorld = false; + + ///collision configuration contains default setup for memory, collision setup + m_collisionConfiguration = new btDefaultCollisionConfiguration(); + //m_collisionConfiguration->setConvexConvexMultipointIterations(); + + ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) + m_dispatcher = new btCollisionDispatcher( m_collisionConfiguration ); + + m_broadphase = new btDbvtBroadphase(); + + ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) + btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; + m_solver = sol; + + m_dynamicsWorld = new btDiscreteDynamicsWorld( m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration ); + } + m_dynamicsWorld->setInternalTickCallback( profileBeginCallback, NULL, true ); + m_dynamicsWorld->setInternalTickCallback( profileEndCallback, NULL, false ); + m_dynamicsWorld->setGravity( btVector3( 0, -10, 0 ) ); + createDefaultParameters(); +} + + +void CommonRigidBodyBase::createDefaultParameters() +{ + if (m_multithreadCapable) + { + // create a button to toggle multithreaded world + ButtonParams button( "Multithreaded world enable", 0, true ); + button.m_userPointer = &gMultithreadedWorld; + button.m_callback = boolPtrButtonCallback; + m_guiHelper->getParameterInterface()->registerButtonParameter( button ); + } + { + // create a button to toggle profile printing + ButtonParams button( "Display profile timings", 0, true ); + button.m_userPointer = &gDisplayProfileInfo; + button.m_callback = boolPtrButtonCallback; + m_guiHelper->getParameterInterface()->registerButtonParameter( button ); + } + if (m_multithreadedWorld) + { + // create a button for each supported threading API + for (int iApi = 0; iApi < TaskManager::apiCount; ++iApi) + { + TaskManager::Api api = static_cast(iApi); + if (gTaskMgr.isSupported(api)) + { + char str[1024]; + sprintf(str, "API %s", gTaskMgr.getApiName(api)); + ButtonParams button( str, iApi, false ); + button.m_callback = apiSelectButtonCallback; + m_guiHelper->getParameterInterface()->registerButtonParameter( button ); + } + } + { + // create a slider to set the number of threads to use + gSliderNumThreads = float(gTaskMgr.getNumThreads()); + SliderParams slider("Thread count", &gSliderNumThreads); + slider.m_minVal = 1.0f; + slider.m_maxVal = float(gTaskMgr.getMaxNumThreads()*2); + slider.m_callback = setThreadCountCallback; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); + } + } +} + +void CommonRigidBodyBase::physicsDebugDraw(int debugFlags) +{ + if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer()) + { + m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags); + m_dynamicsWorld->debugDrawWorld(); + } + char msg[ 1024 ]; + int xCoord = 400; + int yCoord = 30; + int yStep = 30; + if (m_multithreadCapable) + { + if ( m_multithreadedWorld != gMultithreadedWorld ) + { + sprintf( msg, "restart example to begin in %s mode", + gMultithreadedWorld ? "multithreaded" : "single threaded" + ); + m_guiHelper->getAppInterface()->drawText( msg, 300, yCoord, 0.4f ); + yCoord += yStep; + } + } + if (gDisplayProfileInfo) + { + if ( m_multithreadedWorld ) + { + int numManifolds = m_dispatcher->getNumManifolds(); + int numContacts = 0; + for ( int i = 0; i < numManifolds; ++i ) + { + const btPersistentManifold* man = m_dispatcher->getManifoldByIndexInternal( i ); + numContacts += man->getNumContacts(); + } + const char* mtApi = TaskManager::getApiName( gTaskMgr.getApi() ); + sprintf( msg, "islands=%d bodies=%d manifolds=%d contacts=%d [%s] threads=%d", + gNumIslands, + m_dynamicsWorld->getNumCollisionObjects(), + numManifolds, + numContacts, + mtApi, + gTaskMgr.getApi() == TaskManager::apiNone ? 1 : gTaskMgr.getNumThreads() + ); + m_guiHelper->getAppInterface()->drawText( msg, 100, yCoord, 0.4f ); + yCoord += yStep; + } + + sprintf( msg, "internalSimStep %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordInternalTimeStep )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + if ( m_multithreadedWorld ) + { + sprintf( msg, + "DispatchCollisionPairs %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordDispatchAllCollisionPairs )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + sprintf( msg, + "SolveAllIslands %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordDispatchIslands )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + sprintf( msg, + "PredictUnconstrainedMotion %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordPredictUnconstrainedMotion )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + sprintf( msg, + "CreatePredictiveContacts %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordCreatePredictiveContacts )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + + sprintf( msg, + "IntegrateTransforms %5.3f ms", + gProfiler.getAverageTime( Profiler::kRecordIntegrateTransforms )*0.001f + ); + m_guiHelper->getAppInterface()->drawText( msg, xCoord, yCoord, 0.4f ); + yCoord += yStep; + } + } +} + diff --git a/examples/CommonInterfaces/CommonRigidBodyBase.h b/examples/CommonInterfaces/CommonRigidBodyBase.h index 07175ca25..cfbd0053a 100644 --- a/examples/CommonInterfaces/CommonRigidBodyBase.h +++ b/examples/CommonInterfaces/CommonRigidBodyBase.h @@ -21,6 +21,8 @@ struct CommonRigidBodyBase : public CommonExampleInterface btConstraintSolver* m_solver; btDefaultCollisionConfiguration* m_collisionConfiguration; btDiscreteDynamicsWorld* m_dynamicsWorld; + bool m_multithreadedWorld; + bool m_multithreadCapable; //data for picking objects class btRigidBody* m_pickedBody; @@ -31,20 +33,8 @@ struct CommonRigidBodyBase : public CommonExampleInterface btScalar m_oldPickingDist; struct GUIHelperInterface* m_guiHelper; - CommonRigidBodyBase(struct GUIHelperInterface* helper) - :m_broadphase(0), - m_dispatcher(0), - m_solver(0), - m_collisionConfiguration(0), - m_dynamicsWorld(0), - m_pickedBody(0), - m_pickedConstraint(0), - m_guiHelper(helper) - { - } - virtual ~CommonRigidBodyBase() - { - } + CommonRigidBodyBase(struct GUIHelperInterface* helper); + virtual ~CommonRigidBodyBase(); btDiscreteDynamicsWorld* getDynamicsWorld() @@ -52,26 +42,8 @@ struct CommonRigidBodyBase : public CommonExampleInterface return m_dynamicsWorld; } - virtual void createEmptyDynamicsWorld() - { - ///collision configuration contains default setup for memory, collision setup - m_collisionConfiguration = new btDefaultCollisionConfiguration(); - //m_collisionConfiguration->setConvexConvexMultipointIterations(); - - ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) - m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); - - m_broadphase = new btDbvtBroadphase(); - - ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) - btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; - m_solver = sol; - - m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); - - m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); - } - + virtual void createDefaultParameters(); + virtual void createEmptyDynamicsWorld(); virtual void stepSimulation(float deltaTime) { @@ -81,14 +53,7 @@ struct CommonRigidBodyBase : public CommonExampleInterface } } - virtual void physicsDebugDraw(int debugFlags) - { - if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer()) - { - m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags); - m_dynamicsWorld->debugDrawWorld(); - } - } + virtual void physicsDebugDraw(int debugFlags); virtual void exitPhysics() { diff --git a/examples/CommonInterfaces/ParallelFor.h b/examples/CommonInterfaces/ParallelFor.h new file mode 100644 index 000000000..77f6dfe39 --- /dev/null +++ b/examples/CommonInterfaces/ParallelFor.h @@ -0,0 +1,336 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include //printf debugging +#include + + +// choose threading providers: +#if BT_USE_TBB +#define USE_TBB 1 // use Intel Threading Building Blocks for thread management +#endif + +#if BT_USE_PPL +#define USE_PPL 1 // use Microsoft Parallel Patterns Library (installed with Visual Studio 2010 and later) +#endif // BT_USE_PPL + +#if BT_USE_OPENMP +#define USE_OPENMP 1 // use OpenMP (also need to change compiler options for OpenMP support) +#endif + + +#if USE_OPENMP + +#include + +#endif // #if USE_OPENMP + + +#if USE_PPL + +#include // if you get a compile error here, check whether your version of Visual Studio includes PPL +// Visual Studio 2010 and later should come with it +#include // for GetProcessorCount() +#endif // #if USE_PPL + + +#if USE_TBB + +#define __TBB_NO_IMPLICIT_LINKAGE 1 +#include +#include +#include +#include + +#endif // #if USE_TBB + + + +class TaskManager +{ +public: + enum Api + { + apiNone, + apiOpenMP, + apiTbb, + apiPpl, + apiCount + }; + static const char* getApiName( Api api ) + { + switch ( api ) + { + case apiNone: return "None"; + case apiOpenMP: return "OpenMP"; + case apiTbb: return "Intel TBB"; + case apiPpl: return "MS PPL"; + default: return "unknown"; + } + } + + TaskManager() + { + m_api = apiNone; + m_numThreads = 0; +#if USE_TBB + m_tbbSchedulerInit = NULL; +#endif // #if USE_TBB + } + + Api getApi() const + { + return m_api; + } + + bool isSupported( Api api ) const + { +#if USE_OPENMP + if ( api == apiOpenMP ) + { + return true; + } +#endif +#if USE_TBB + if ( api == apiTbb ) + { + return true; + } +#endif +#if USE_PPL + if ( api == apiPpl ) + { + return true; + } +#endif + // apiNone is always "supported" + return api == apiNone; + } + + void setApi( Api api ) + { + if (isSupported(api)) + { + m_api = api; + } + else + { + // no compile time support for selected API, fallback to "none" + m_api = apiNone; + } + } + + static int getMaxNumThreads() + { +#if USE_OPENMP + return omp_get_max_threads(); +#elif USE_PPL + return concurrency::GetProcessorCount(); +#elif USE_TBB + return tbb::task_scheduler_init::default_num_threads(); +#endif + return 1; + } + + int getNumThreads() const + { + return m_numThreads; + } + + int setNumThreads( int numThreads ) + { + m_numThreads = ( std::max )( 1, numThreads ); + +#if USE_OPENMP + omp_set_num_threads( m_numThreads ); +#endif + +#if USE_PPL + { + using namespace concurrency; + if ( CurrentScheduler::Id() != -1 ) + { + CurrentScheduler::Detach(); + } + SchedulerPolicy policy; + policy.SetConcurrencyLimits( m_numThreads, m_numThreads ); + CurrentScheduler::Create( policy ); + } +#endif + +#if USE_TBB + if ( m_tbbSchedulerInit ) + { + delete m_tbbSchedulerInit; + m_tbbSchedulerInit = NULL; + } + m_tbbSchedulerInit = new tbb::task_scheduler_init( m_numThreads ); +#endif + return m_numThreads; + } + + void init() + { + if (m_numThreads == 0) + { +#if USE_PPL + setApi( apiPpl ); +#endif +#if USE_TBB + setApi( apiTbb ); +#endif +#if USE_OPENMP + setApi( apiOpenMP ); +#endif + setNumThreads(getMaxNumThreads()); + } + else + { + setNumThreads(m_numThreads); + } + } + + void shutdown() + { +#if USE_TBB + if ( m_tbbSchedulerInit ) + { + delete m_tbbSchedulerInit; + m_tbbSchedulerInit = NULL; + } +#endif + } + +private: + Api m_api; + int m_numThreads; +#if USE_TBB + tbb::task_scheduler_init* m_tbbSchedulerInit; +#endif // #if USE_TBB +}; + +extern TaskManager gTaskMgr; + + +static void initTaskScheduler() +{ + gTaskMgr.init(); +} + +static void cleanupTaskScheduler() +{ + gTaskMgr.shutdown(); +} + + +#if USE_TBB +/// +/// TbbBodyAdapter -- Converts a body object that implements the +/// "forLoop(int iBegin, int iEnd) const" function +/// into a TBB compatible object that takes a tbb::blocked_range type. +/// +template +struct TbbBodyAdapter +{ + const TBody* mBody; + + void operator()( const tbb::blocked_range& range ) const + { + mBody->forLoop( range.begin(), range.end() ); + } +}; +#endif // #if USE_TBB + +#if USE_PPL +/// +/// PplBodyAdapter -- Converts a body object that implements the +/// "forLoop(int iBegin, int iEnd) const" function +/// into a PPL compatible object that implements "void operator()( int ) const" +/// +template +struct PplBodyAdapter +{ + const TBody* mBody; + int mGrainSize; + int mIndexEnd; + + void operator()( int i ) const + { + mBody->forLoop( i, (std::min)(i + mGrainSize, mIndexEnd) ); + } +}; +#endif // #if USE_PPL + + +/// +/// parallelFor -- interface for submitting work expressed as a for loop to the worker threads +/// +template +void parallelFor( int iBegin, int iEnd, int grainSize, const TBody& body ) +{ +#if USE_OPENMP + if ( gTaskMgr.getApi() == TaskManager::apiOpenMP ) + { +#pragma omp parallel for schedule(static, 1) + for ( int i = iBegin; i < iEnd; i += grainSize ) + { + body.forLoop( i, (std::min)( i + grainSize, iEnd ) ); + } + return; + } +#endif // #if USE_OPENMP + +#if USE_PPL + if ( gTaskMgr.getApi() == TaskManager::apiPpl ) + { + // PPL dispatch + PplBodyAdapter pplBody; + pplBody.mBody = &body; + pplBody.mGrainSize = grainSize; + pplBody.mIndexEnd = iEnd; + // note: MSVC 2010 doesn't support partitioner args, so avoid them + concurrency::parallel_for( iBegin, + iEnd, + grainSize, + pplBody + ); + return; + } +#endif //#if USE_PPL + +#if USE_TBB + if ( gTaskMgr.getApi() == TaskManager::apiTbb ) + { + // TBB dispatch + TbbBodyAdapter tbbBody; + tbbBody.mBody = &body; + tbb::parallel_for( tbb::blocked_range( iBegin, iEnd, grainSize ), + tbbBody, + tbb::simple_partitioner() + ); + return; + } +#endif // #if USE_TBB + + { + // run on main thread + body.forLoop( iBegin, iEnd ); + } + +} + + + + diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 024d928d3..aa8352a95 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -32,6 +32,7 @@ ADD_LIBRARY(BulletExampleBrowserLib GL_ShapeDrawer.cpp CollisionShape2TriangleMesh.cpp CollisionShape2TriangleMesh.h + ../CommonInterfaces/CommonRigidBodyBase.cpp ../Utils/b3Clock.cpp ../Utils/b3Clock.h ../Utils/b3ResourcePath.cpp @@ -108,6 +109,29 @@ ELSE(WIN32) ENDIF(APPLE) ENDIF(WIN32) +IF (BULLET2_MULTITHREADED_OPEN_MP_DEMO) + ADD_DEFINITIONS("-DBT_USE_OPENMP=1") + IF (MSVC) + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp") + ELSE (MSVC) + # GCC, Clang + SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp") + ENDIF (MSVC) +ENDIF (BULLET2_MULTITHREADED_OPEN_MP_DEMO) + +IF (BULLET2_MULTITHREADED_PPL_DEMO) + ADD_DEFINITIONS("-DBT_USE_PPL=1") +ENDIF (BULLET2_MULTITHREADED_PPL_DEMO) + +IF (BULLET2_MULTITHREADED_TBB_DEMO) + SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.") + SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.") + find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR}) + find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR}) + ADD_DEFINITIONS("-DBT_USE_TBB=1") + INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} ) + LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} ) +ENDIF (BULLET2_MULTITHREADED_TBB_DEMO) SET(ExtendedTutorialsSources ../ExtendedTutorials/Chain.cpp @@ -173,6 +197,8 @@ SET(BulletExampleBrowser_SRCS ../InverseKinematics/InverseKinematicsExample.h ../ForkLift/ForkLiftDemo.cpp ../ForkLift/ForkLiftDemo.h + ../MultiThreadedDemo/MultiThreadedDemo.cpp + ../MultiThreadedDemo/MultiThreadedDemo.h ../Tutorial/Tutorial.cpp ../Tutorial/Tutorial.h ../Tutorial/Dof6ConstraintTutorial.cpp @@ -346,9 +372,26 @@ ADD_CUSTOM_COMMAND( COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data ) +IF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32) + # add a post build command to copy some dlls to the executable directory + set(TBB_VC_VER "vc12") + set(TBB_VC_ARCH "ia32") + # assume 32-bit build in VC12 for now + # checks can be added here at a later time + ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_if_different + "${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbb.dll" + $) + ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_if_different + "${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbbmalloc.dll" + $) +ENDIF (BULLET2_MULTITHREADED_TBB_DEMO AND WIN32) + IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES DEBUG_POSTFIX "_Debug") SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel") SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo") ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) + diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 87382fbc8..258a70a23 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -8,6 +8,7 @@ #include "../RenderingExamples/TinyRendererSetup.h" #include "../RenderingExamples/DynamicTexturedCubeDemo.h" #include "../ForkLift/ForkLiftDemo.h" +#include "../MultiThreadedDemo/MultiThreadedDemo.h" #include "../BasicDemo/BasicExample.h" #include "../Planar2D/Planar2D.h" #include "../Benchmarks/BenchmarkDemo.h" @@ -284,7 +285,13 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"Fracture demo", "Create a basic custom implementation to model fracturing objects, based on a btCompoundShape. It explicitly propagates the collision impulses and breaks the rigid body into multiple rigid bodies. Press F to toggle fracture and glue mode.", FractureDemoCreateFunc), ExampleEntry(1,"Planar 2D","Show the use of 2D collision shapes and rigid body simulation. The collision shape is wrapped into a btConvex2dShape. The rigid bodies are restricted in a plane using the 'setAngularFactor' and 'setLinearFactor' API call.",Planar2DCreateFunc), - +#if BT_USE_OPENMP || BT_USE_TBB || BT_USE_PPL + // only enable MultiThreaded demo if a task scheduler is available + ExampleEntry( 1, "Multithreaded Demo", + "Stacks of boxes that do not sleep. Good for testing performance with large numbers of bodies and contacts. Sliders can be used to change the number of stacks (restart needed after each change)." + , + MultiThreadedDemoCreateFunc ), +#endif ExampleEntry(0,"Rendering"), diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index c28ae0e5a..571baec95 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -95,6 +95,7 @@ project "App_BulletExampleBrowser" "../RoboticsLearning/*", "../Collision/Internal/*", "../Benchmarks/*", + "../MultiThreadedDemo/*", "../CommonInterfaces/*", "../ForkLift/ForkLiftDemo.*", "../Importers/**", diff --git a/examples/ExtendedTutorials/premake4.lua b/examples/ExtendedTutorials/premake4.lua index 41126e0af..bbfa7c224 100644 --- a/examples/ExtendedTutorials/premake4.lua +++ b/examples/ExtendedTutorials/premake4.lua @@ -17,6 +17,7 @@ language "C++" files { "RigidBodyFromObj.cpp", + "../CommonInterfaces/*", "**.h", "../StandaloneMain/main_console_single_example.cpp", "../Utils/b3ResourcePath.cpp", @@ -68,6 +69,7 @@ files { "RigidBodyFromObj.cpp", "*.h", "../StandaloneMain/main_opengl_single_example.cpp", + "../CommonInterfaces/*", "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", @@ -132,6 +134,7 @@ files { "../ExampleBrowser/OpenGLGuiHelper.cpp", "../ExampleBrowser/GL_ShapeDrawer.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", "../TinyRenderer/tgaimage.cpp", @@ -193,6 +196,7 @@ files { "../StandaloneMain/main_tinyrenderer_single_example.cpp", "../OpenGLWindow/SimpleCamera.cpp", "../ExampleBrowser/CollisionShape2TriangleMesh.cpp", + "../CommonInterfaces/*", "../TinyRenderer/geometry.cpp", "../TinyRenderer/model.cpp", "../TinyRenderer/tgaimage.cpp", diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp new file mode 100644 index 000000000..25c20383d --- /dev/null +++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp @@ -0,0 +1,229 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#include "btBulletDynamicsCommon.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btIDebugDraw.h" + +#include //printf debugging +#include + +class btCollisionShape; + +#include "../CommonInterfaces/CommonExampleInterface.h" +#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../CommonInterfaces/CommonParameterInterface.h" +#include "../CommonInterfaces/CommonGUIHelperInterface.h" +#include "../CommonInterfaces/CommonRenderInterface.h" +#include "../CommonInterfaces/CommonWindowInterface.h" +#include "../CommonInterfaces/CommonGraphicsAppInterface.h" +#include "MultiThreadedDemo.h" +#include "LinearMath/btAlignedObjectArray.h" +#include "btBulletCollisionCommon.h" + + +#define BT_OVERRIDE + +/// MultiThreadedDemo shows how to setup and use multithreading +class MultiThreadedDemo : public CommonRigidBodyBase +{ + static const int kUpAxis = 1; + + btRigidBody* localCreateRigidBody(btScalar mass, const btTransform& worldTransform, btCollisionShape* colSape); + + btVector3 m_cameraTargetPos; + float m_cameraPitch; + float m_cameraYaw; + float m_cameraDist; + + void createStack( const btVector3& pos, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size ); + void createSceneObjects(); + void destroySceneObjects(); + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + MultiThreadedDemo( struct GUIHelperInterface* helper ); + + virtual ~MultiThreadedDemo() {} + + virtual void stepSimulation( float deltaTime ) BT_OVERRIDE + { + if ( m_dynamicsWorld ) + { + // always step by 1/60 for benchmarking + m_dynamicsWorld->stepSimulation( 1.0f / 60.0f, 0 ); + } + } + + virtual void initPhysics() BT_OVERRIDE; + virtual void resetCamera() BT_OVERRIDE + { + m_guiHelper->resetCamera( m_cameraDist, + m_cameraPitch, + m_cameraYaw, + m_cameraTargetPos.x(), + m_cameraTargetPos.y(), + m_cameraTargetPos.z() + ); + } + +}; + + +MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper) + : CommonRigidBodyBase( helper ) +{ + m_cameraTargetPos = btVector3( 0.0f, 0.0f, 0.0f ); + m_cameraPitch = 90.0f; + m_cameraYaw = 30.0f; + m_cameraDist = 48.0f; + helper->setUpAxis( kUpAxis ); +} + + +static btScalar gSliderStackRows = 8.0f; +static btScalar gSliderStackColumns = 6.0f; + + +void MultiThreadedDemo::initPhysics() +{ + createEmptyDynamicsWorld(); + + m_dynamicsWorld->setGravity( btVector3( 0, -10, 0 ) ); + + { + SliderParams slider( "Stack rows", &gSliderStackRows ); + slider.m_minVal = 1.0f; + slider.m_maxVal = 20.0f; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); + } + { + SliderParams slider( "Stack columns", &gSliderStackColumns ); + slider.m_minVal = 1.0f; + slider.m_maxVal = 20.0f; + slider.m_clampToNotches = false; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); + } + + createSceneObjects(); + + m_guiHelper->createPhysicsDebugDrawer( m_dynamicsWorld ); +} + + + +btRigidBody* MultiThreadedDemo::localCreateRigidBody(btScalar mass, const btTransform& startTransform, btCollisionShape* shape) +{ + btRigidBody* body = createRigidBody(mass, startTransform, shape); + if ( mass > 0.0f ) + { + // prevent bodies from sleeping to make profiling/benchmarking easier + body->forceActivationState( DISABLE_DEACTIVATION ); + } + return body; +} + + +void MultiThreadedDemo::createStack( const btVector3& center, btCollisionShape* boxShape, const btVector3& halfBoxSize, int size ) +{ + btTransform trans; + trans.setIdentity(); + float halfBoxHeight = halfBoxSize.y(); + float halfBoxWidth = halfBoxSize.x(); + + for ( int i = 0; isetLinearVelocity( btVector3( 0, 0, -10 ) ); + } + m_guiHelper->autogenerateGraphicsObjects( m_dynamicsWorld ); + +} + + +CommonExampleInterface* MultiThreadedDemoCreateFunc( struct CommonExampleOptions& options ) +{ + return new MultiThreadedDemo(options.m_guiHelper); +} + diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.h b/examples/MultiThreadedDemo/MultiThreadedDemo.h new file mode 100644 index 000000000..0075e81e7 --- /dev/null +++ b/examples/MultiThreadedDemo/MultiThreadedDemo.h @@ -0,0 +1,22 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +#ifndef MULTITHREADED_DEMO_H +#define MULTITHREADED_DEMO_H + +class CommonExampleInterface* MultiThreadedDemoCreateFunc(struct CommonExampleOptions& options); + +#endif // MULTITHREADED_DEMO_H + + diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.cpp b/examples/OpenGLWindow/SimpleOpenGL2App.cpp index 62f8aba16..a898dd602 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL2App.cpp @@ -280,7 +280,7 @@ void SimpleOpenGL2App::swapBuffer() m_window->startRendering(); } -void SimpleOpenGL2App::drawText( const char* txt, int posX, int posY) +void SimpleOpenGL2App::drawText( const char* txt, int posX, int posY, float size) { } diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.h b/examples/OpenGLWindow/SimpleOpenGL2App.h index 960dc1d07..3b8a54a5b 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2App.h +++ b/examples/OpenGLWindow/SimpleOpenGL2App.h @@ -17,7 +17,7 @@ public: virtual int getUpAxis() const; virtual void swapBuffer(); - virtual void drawText( const char* txt, int posX, int posY); + virtual void drawText( const char* txt, int posX, int posY, float size); virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){}; virtual void setBackgroundColor(float red, float green, float blue); virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1) diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp index 6abcd2185..aea665019 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp @@ -352,7 +352,7 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world } -void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi) +void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi, float size) { float posX = (float)posXi; @@ -374,7 +374,7 @@ void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi) { bool measureOnly = false; - float fontSize= 64;//512;//128; + float fontSize= 64*size;//512;//128; sth_draw_text(m_data->m_fontStash, m_data->m_droidRegular,fontSize,posX,posY, txt,&dx, this->m_instancingRenderer->getScreenWidth(), diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.h b/examples/OpenGLWindow/SimpleOpenGL3App.h index 8a3f477f6..6902dacf8 100644 --- a/examples/OpenGLWindow/SimpleOpenGL3App.h +++ b/examples/OpenGLWindow/SimpleOpenGL3App.h @@ -31,7 +31,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp virtual int getUpAxis() const; virtual void swapBuffer(); - virtual void drawText( const char* txt, int posX, int posY); + virtual void drawText( const char* txt, int posX, int posY, float size=1.0f); virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size); virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA); struct sth_stash* getFontStash(); diff --git a/src/BulletCollision/BroadphaseCollision/btDbvt.h b/src/BulletCollision/BroadphaseCollision/btDbvt.h index bee17e5c8..1ca175723 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvt.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvt.h @@ -267,7 +267,6 @@ struct btDbvt btAlignedObjectArray m_stkStack; - mutable btAlignedObjectArray m_rayTestStack; // Methods @@ -357,6 +356,7 @@ struct btDbvt btScalar lambda_max, const btVector3& aabbMin, const btVector3& aabbMax, + btAlignedObjectArray& stack, DBVT_IPOLICY) const; DBVT_PREFIX @@ -1006,7 +1006,8 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root, btScalar lambda_max, const btVector3& aabbMin, const btVector3& aabbMax, - DBVT_IPOLICY) const + btAlignedObjectArray& stack, + DBVT_IPOLICY ) const { (void) rayTo; DBVT_CHECKTYPE @@ -1016,7 +1017,6 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root, int depth=1; int treshold=DOUBLE_STACKSIZE-2; - btAlignedObjectArray& stack = m_rayTestStack; stack.resize(DOUBLE_STACKSIZE); stack[0]=root; btVector3 bounds[2]; diff --git a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp index 75cfac643..4f33db500 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +++ b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp @@ -16,6 +16,7 @@ subject to the following restrictions: ///btDbvtBroadphase implementation by Nathanael Presson #include "btDbvtBroadphase.h" +#include "LinearMath/btThreads.h" // // Profiling @@ -142,6 +143,11 @@ btDbvtBroadphase::btDbvtBroadphase(btOverlappingPairCache* paircache) { m_stageRoots[i]=0; } +#if BT_THREADSAFE + m_rayTestStacks.resize(BT_MAX_THREAD_COUNT); +#else + m_rayTestStacks.resize(1); +#endif #if DBVT_BP_PROFILE clear(m_profiling); #endif @@ -227,6 +233,23 @@ struct BroadphaseRayTester : btDbvt::ICollide void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin,const btVector3& aabbMax) { BroadphaseRayTester callback(rayCallback); + btAlignedObjectArray* stack = &m_rayTestStacks[0]; +#if BT_THREADSAFE + // for this function to be threadsafe, each thread must have a separate copy + // of this stack. This could be thread-local static to avoid dynamic allocations, + // instead of just a local. + int threadIndex = btGetCurrentThreadIndex(); + btAlignedObjectArray localStack; + if (threadIndex < m_rayTestStacks.size()) + { + // use per-thread preallocated stack if possible to avoid dynamic allocations + stack = &m_rayTestStacks[threadIndex]; + } + else + { + stack = &localStack; + } +#endif m_sets[0].rayTestInternal( m_sets[0].m_root, rayFrom, @@ -236,6 +259,7 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, rayCallback.m_lambda_max, aabbMin, aabbMax, + *stack, callback); m_sets[1].rayTestInternal( m_sets[1].m_root, @@ -246,6 +270,7 @@ void btDbvtBroadphase::rayTest(const btVector3& rayFrom,const btVector3& rayTo, rayCallback.m_lambda_max, aabbMin, aabbMax, + *stack, callback); } diff --git a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h index 18b64ad0e..a61f00df0 100644 --- a/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +++ b/src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h @@ -87,6 +87,7 @@ struct btDbvtBroadphase : btBroadphaseInterface bool m_releasepaircache; // Release pair cache on delete bool m_deferedcollide; // Defere dynamic/static collision to collide call bool m_needcleanup; // Need to run cleanup? + btAlignedObjectArray< btAlignedObjectArray > m_rayTestStacks; #if DBVT_BP_PROFILE btClock m_clock; struct { diff --git a/src/BulletCollision/CMakeLists.txt b/src/BulletCollision/CMakeLists.txt index 90741a126..1e54a9494 100644 --- a/src/BulletCollision/CMakeLists.txt +++ b/src/BulletCollision/CMakeLists.txt @@ -33,6 +33,7 @@ SET(BulletCollision_SRCS CollisionDispatch/btInternalEdgeUtility.h CollisionDispatch/btManifoldResult.cpp CollisionDispatch/btSimulationIslandManager.cpp + CollisionDispatch/btSimulationIslandManagerMt.cpp CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp @@ -140,6 +141,7 @@ SET(CollisionDispatch_HDRS CollisionDispatch/btHashedSimplePairCache.h CollisionDispatch/btManifoldResult.h CollisionDispatch/btSimulationIslandManager.h + CollisionDispatch/btSimulationIslandManagerMt.h CollisionDispatch/btSphereBoxCollisionAlgorithm.h CollisionDispatch/btSphereSphereCollisionAlgorithm.h CollisionDispatch/btSphereTriangleCollisionAlgorithm.h diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index d41e98c32..cf1adbefa 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -84,14 +84,10 @@ btPersistentManifold* btCollisionDispatcher::getNewManifold(const btCollisionObj btScalar contactProcessingThreshold = btMin(body0->getContactProcessingThreshold(),body1->getContactProcessingThreshold()); - void* mem = 0; - - if (m_persistentManifoldPoolAllocator->getFreeCount()) + void* mem = m_persistentManifoldPoolAllocator->allocate( sizeof( btPersistentManifold ) ); + if (NULL == mem) { - mem = m_persistentManifoldPoolAllocator->allocate(sizeof(btPersistentManifold)); - } else - { - //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert. + //we got a pool memory overflow, by default we fallback to dynamically allocate memory. If we require a contiguous contact pool then assert. if ((m_dispatcherFlags&CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION)==0) { mem = btAlignedAlloc(sizeof(btPersistentManifold),16); @@ -294,13 +290,13 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, void* btCollisionDispatcher::allocateCollisionAlgorithm(int size) { - if (m_collisionAlgorithmPoolAllocator->getFreeCount()) - { - return m_collisionAlgorithmPoolAllocator->allocate(size); - } - - //warn user for overflow? - return btAlignedAlloc(static_cast(size), 16); + void* mem = m_collisionAlgorithmPoolAllocator->allocate( size ); + if (NULL == mem) + { + //warn user for overflow? + return btAlignedAlloc(static_cast(size), 16); + } + return mem; } void btCollisionDispatcher::freeCollisionAlgorithm(void* ptr) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/src/BulletCollision/CollisionDispatch/btCollisionObject.h index d042115e6..11491e41f 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -79,6 +79,7 @@ protected: int m_islandTag1; int m_companionId; + int m_uniqueId; mutable int m_activationState1; mutable btScalar m_deactivationTime; @@ -455,7 +456,17 @@ public: m_companionId = id; } - SIMD_FORCE_INLINE btScalar getHitFraction() const + SIMD_FORCE_INLINE int getUniqueId() const + { + return m_uniqueId; + } + + void setUniqueId( int id ) + { + m_uniqueId = id; + } + + SIMD_FORCE_INLINE btScalar getHitFraction() const { return m_hitFraction; } diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index b9cc04186..80d294895 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -179,11 +179,10 @@ static SIMD_FORCE_INLINE btScalar capsuleCapsuleDistance( -btConvexConvexAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver) +btConvexConvexAlgorithm::CreateFunc::CreateFunc(btConvexPenetrationDepthSolver* pdSolver) { m_numPerturbationIterations = 0; m_minimumPointsPerturbationThreshold = 3; - m_simplexSolver = simplexSolver; m_pdSolver = pdSolver; } @@ -191,9 +190,8 @@ btConvexConvexAlgorithm::CreateFunc::~CreateFunc() { } -btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold) +btConvexConvexAlgorithm::btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold) : btActivatingCollisionAlgorithm(ci,body0Wrap,body1Wrap), -m_simplexSolver(simplexSolver), m_pdSolver(pdSolver), m_ownManifold (false), m_manifoldPtr(mf), @@ -349,8 +347,8 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* btGjkPairDetector::ClosestPointInput input; - - btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver); + btVoronoiSimplexSolver simplexSolver; + btGjkPairDetector gjkPairDetector( min0, min1, &simplexSolver, m_pdSolver ); //TODO: if (dispatchInfo.m_useContinuous) gjkPairDetector.setMinkowskiA(min0); gjkPairDetector.setMinkowskiB(min1); diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h index d0ff3b3c1..cd75ba12d 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h @@ -43,7 +43,6 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm #ifdef USE_SEPDISTANCE_UTIL2 btConvexSeparatingDistanceUtil m_sepDistance; #endif - btSimplexSolverInterface* m_simplexSolver; btConvexPenetrationDepthSolver* m_pdSolver; btVertexArray worldVertsB1; @@ -62,7 +61,7 @@ class btConvexConvexAlgorithm : public btActivatingCollisionAlgorithm public: - btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); + btConvexConvexAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap, btConvexPenetrationDepthSolver* pdSolver, int numPerturbationIterations, int minimumPointsPerturbationThreshold); virtual ~btConvexConvexAlgorithm(); @@ -90,18 +89,17 @@ public: { btConvexPenetrationDepthSolver* m_pdSolver; - btSimplexSolverInterface* m_simplexSolver; int m_numPerturbationIterations; int m_minimumPointsPerturbationThreshold; - CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver); + CreateFunc(btConvexPenetrationDepthSolver* pdSolver); virtual ~CreateFunc(); virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap) { void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btConvexConvexAlgorithm)); - return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_simplexSolver,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); + return new(mem) btConvexConvexAlgorithm(ci.m_manifold,ci,body0Wrap,body1Wrap,m_pdSolver,m_numPerturbationIterations,m_minimumPointsPerturbationThreshold); } }; diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp index 9a2e3394d..9e04d2aae 100644 --- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp +++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp @@ -44,9 +44,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault //btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(btStackAlloc* stackAlloc,btPoolAllocator* persistentManifoldPool,btPoolAllocator* collisionAlgorithmPool) { - void* mem = btAlignedAlloc(sizeof(btVoronoiSimplexSolver),16); - m_simplexSolver = new (mem)btVoronoiSimplexSolver(); - + void* mem = NULL; if (constructionInfo.m_useEpaPenetrationAlgorithm) { mem = btAlignedAlloc(sizeof(btGjkEpaPenetrationDepthSolver),16); @@ -59,7 +57,7 @@ btDefaultCollisionConfiguration::btDefaultCollisionConfiguration(const btDefault //default CreationFunctions, filling the m_doubleDispatch table mem = btAlignedAlloc(sizeof(btConvexConvexAlgorithm::CreateFunc),16); - m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_simplexSolver,m_pdSolver); + m_convexConvexCreateFunc = new(mem) btConvexConvexAlgorithm::CreateFunc(m_pdSolver); mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16); m_convexConcaveCreateFunc = new (mem)btConvexConcaveCollisionAlgorithm::CreateFunc; mem = btAlignedAlloc(sizeof(btConvexConcaveCollisionAlgorithm::CreateFunc),16); @@ -193,9 +191,6 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration() m_planeConvexCF->~btCollisionAlgorithmCreateFunc(); btAlignedFree( m_planeConvexCF); - m_simplexSolver->~btVoronoiSimplexSolver(); - btAlignedFree(m_simplexSolver); - m_pdSolver->~btConvexPenetrationDepthSolver(); btAlignedFree(m_pdSolver); diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h index 2078420e1..93a45126b 100644 --- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h +++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h @@ -60,8 +60,7 @@ protected: btPoolAllocator* m_collisionAlgorithmPool; bool m_ownsCollisionAlgorithmPool; - //default simplex/penetration depth solvers - btVoronoiSimplexSolver* m_simplexSolver; + //default penetration depth solver btConvexPenetrationDepthSolver* m_pdSolver; //default CreationFunctions, filling the m_doubleDispatch table @@ -102,12 +101,6 @@ public: } - virtual btVoronoiSimplexSolver* getSimplexSolver() - { - return m_simplexSolver; - } - - virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); ///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp b/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp new file mode 100644 index 000000000..ad63b6ee0 --- /dev/null +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp @@ -0,0 +1,641 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "LinearMath/btScalar.h" +#include "btSimulationIslandManagerMt.h" +#include "BulletCollision/BroadphaseCollision/btDispatcher.h" +#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" +#include "BulletCollision/CollisionDispatch/btCollisionObject.h" +#include "BulletCollision/CollisionDispatch/btCollisionWorld.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" + +//#include +#include "LinearMath/btQuickprof.h" + + +SIMD_FORCE_INLINE int calcBatchCost( int bodies, int manifolds, int constraints ) +{ + // rough estimate of the cost of a batch, used for merging + int batchCost = bodies + 8 * manifolds + 4 * constraints; + return batchCost; +} + + +SIMD_FORCE_INLINE int calcBatchCost( const btSimulationIslandManagerMt::Island* island ) +{ + return calcBatchCost( island->bodyArray.size(), island->manifoldArray.size(), island->constraintArray.size() ); +} + + +btSimulationIslandManagerMt::btSimulationIslandManagerMt() +{ + m_minimumSolverBatchSize = calcBatchCost(0, 128, 0); + m_batchIslandMinBodyCount = 32; + m_islandDispatch = defaultIslandDispatch; + m_batchIsland = NULL; +} + + +btSimulationIslandManagerMt::~btSimulationIslandManagerMt() +{ + for ( int i = 0; i < m_allocatedIslands.size(); ++i ) + { + delete m_allocatedIslands[ i ]; + } + m_allocatedIslands.resize( 0 ); + m_activeIslands.resize( 0 ); + m_freeIslands.resize( 0 ); +} + + +inline int getIslandId(const btPersistentManifold* lhs) +{ + const btCollisionObject* rcolObj0 = static_cast(lhs->getBody0()); + const btCollisionObject* rcolObj1 = static_cast(lhs->getBody1()); + int islandId = rcolObj0->getIslandTag() >= 0 ? rcolObj0->getIslandTag() : rcolObj1->getIslandTag(); + return islandId; +} + + +SIMD_FORCE_INLINE int btGetConstraintIslandId( const btTypedConstraint* lhs ) +{ + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); + const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); + int islandId = rcolObj0.getIslandTag() >= 0 ? rcolObj0.getIslandTag() : rcolObj1.getIslandTag(); + return islandId; +} + +/// function object that routes calls to operator< +class IslandBatchSizeSortPredicate +{ +public: + bool operator() ( const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs ) const + { + int lCost = calcBatchCost( lhs ); + int rCost = calcBatchCost( rhs ); + return lCost > rCost; + } +}; + + +class IslandBodyCapacitySortPredicate +{ +public: + bool operator() ( const btSimulationIslandManagerMt::Island* lhs, const btSimulationIslandManagerMt::Island* rhs ) const + { + return lhs->bodyArray.capacity() > rhs->bodyArray.capacity(); + } +}; + + +void btSimulationIslandManagerMt::Island::append( const Island& other ) +{ + // append bodies + for ( int i = 0; i < other.bodyArray.size(); ++i ) + { + bodyArray.push_back( other.bodyArray[ i ] ); + } + // append manifolds + for ( int i = 0; i < other.manifoldArray.size(); ++i ) + { + manifoldArray.push_back( other.manifoldArray[ i ] ); + } + // append constraints + for ( int i = 0; i < other.constraintArray.size(); ++i ) + { + constraintArray.push_back( other.constraintArray[ i ] ); + } +} + + +bool btIsBodyInIsland( const btSimulationIslandManagerMt::Island& island, const btCollisionObject* obj ) +{ + for ( int i = 0; i < island.bodyArray.size(); ++i ) + { + if ( island.bodyArray[ i ] == obj ) + { + return true; + } + } + return false; +} + + +void btSimulationIslandManagerMt::initIslandPools() +{ + // reset island pools + int numElem = getUnionFind().getNumElements(); + m_lookupIslandFromId.resize( numElem ); + for ( int i = 0; i < m_lookupIslandFromId.size(); ++i ) + { + m_lookupIslandFromId[ i ] = NULL; + } + m_activeIslands.resize( 0 ); + m_freeIslands.resize( 0 ); + // check whether allocated islands are sorted by body capacity (largest to smallest) + int lastCapacity = 0; + bool isSorted = true; + for ( int i = 0; i < m_allocatedIslands.size(); ++i ) + { + Island* island = m_allocatedIslands[ i ]; + int cap = island->bodyArray.capacity(); + if ( cap > lastCapacity ) + { + isSorted = false; + break; + } + lastCapacity = cap; + } + if ( !isSorted ) + { + m_allocatedIslands.quickSort( IslandBodyCapacitySortPredicate() ); + } + + m_batchIsland = NULL; + // mark all islands free (but avoid deallocation) + for ( int i = 0; i < m_allocatedIslands.size(); ++i ) + { + Island* island = m_allocatedIslands[ i ]; + island->bodyArray.resize( 0 ); + island->manifoldArray.resize( 0 ); + island->constraintArray.resize( 0 ); + island->id = -1; + island->isSleeping = true; + m_freeIslands.push_back( island ); + } +} + + +btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::getIsland( int id ) +{ + Island* island = m_lookupIslandFromId[ id ]; + if ( island == NULL ) + { + // search for existing island + for ( int i = 0; i < m_activeIslands.size(); ++i ) + { + if ( m_activeIslands[ i ]->id == id ) + { + island = m_activeIslands[ i ]; + break; + } + } + m_lookupIslandFromId[ id ] = island; + } + return island; +} + + +btSimulationIslandManagerMt::Island* btSimulationIslandManagerMt::allocateIsland( int id, int numBodies ) +{ + Island* island = NULL; + int allocSize = numBodies; + if ( numBodies < m_batchIslandMinBodyCount ) + { + if ( m_batchIsland ) + { + island = m_batchIsland; + m_lookupIslandFromId[ id ] = island; + // if we've made a large enough batch, + if ( island->bodyArray.size() + numBodies >= m_batchIslandMinBodyCount ) + { + // next time start a new batch + m_batchIsland = NULL; + } + return island; + } + else + { + // need to allocate a batch island + allocSize = m_batchIslandMinBodyCount * 2; + } + } + btAlignedObjectArray& freeIslands = m_freeIslands; + + // search for free island + if ( freeIslands.size() > 0 ) + { + // try to reuse a previously allocated island + int iFound = freeIslands.size(); + // linear search for smallest island that can hold our bodies + for ( int i = freeIslands.size() - 1; i >= 0; --i ) + { + if ( freeIslands[ i ]->bodyArray.capacity() >= allocSize ) + { + iFound = i; + island = freeIslands[ i ]; + island->id = id; + break; + } + } + // if found, shrink array while maintaining ordering + if ( island ) + { + int iDest = iFound; + int iSrc = iDest + 1; + while ( iSrc < freeIslands.size() ) + { + freeIslands[ iDest++ ] = freeIslands[ iSrc++ ]; + } + freeIslands.pop_back(); + } + } + if ( island == NULL ) + { + // no free island found, allocate + island = new Island(); // TODO: change this to use the pool allocator + island->id = id; + island->bodyArray.reserve( allocSize ); + m_allocatedIslands.push_back( island ); + } + m_lookupIslandFromId[ id ] = island; + if ( numBodies < m_batchIslandMinBodyCount ) + { + m_batchIsland = island; + } + m_activeIslands.push_back( island ); + return island; +} + + +void btSimulationIslandManagerMt::buildIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld ) +{ + + BT_PROFILE("islandUnionFindAndQuickSort"); + + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + + //we are going to sort the unionfind array, and store the element id in the size + //afterwards, we clean unionfind, to make sure no-one uses it anymore + + getUnionFind().sortIslands(); + int numElem = getUnionFind().getNumElements(); + + int endIslandIndex=1; + int startIslandIndex; + + //update the sleeping state for bodies, if all are sleeping + for ( startIslandIndex=0;startIslandIndexgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + if (colObj0->getIslandTag() == islandId) + { + if (colObj0->getActivationState()== ACTIVE_TAG) + { + allSleeping = false; + } + if (colObj0->getActivationState()== DISABLE_DEACTIVATION) + { + allSleeping = false; + } + } + } + + if (allSleeping) + { + int idx; + for (idx=startIslandIndex;idxgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + + if (colObj0->getIslandTag() == islandId) + { + colObj0->setActivationState( ISLAND_SLEEPING ); + } + } + } else + { + + int idx; + for (idx=startIslandIndex;idxgetIslandTag() != islandId) && (colObj0->getIslandTag() != -1)) + { +// printf("error in island management\n"); + } + + btAssert((colObj0->getIslandTag() == islandId) || (colObj0->getIslandTag() == -1)); + + if (colObj0->getIslandTag() == islandId) + { + if ( colObj0->getActivationState() == ISLAND_SLEEPING) + { + colObj0->setActivationState( WANTS_DEACTIVATION); + colObj0->setDeactivationTime(0.f); + } + } + } + } + } +} + + +void btSimulationIslandManagerMt::addBodiesToIslands( btCollisionWorld* collisionWorld ) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + int endIslandIndex = 1; + int startIslandIndex; + int numElem = getUnionFind().getNumElements(); + + // create explicit islands and add bodies to each + for ( startIslandIndex = 0; startIslandIndex < numElem; startIslandIndex = endIslandIndex ) + { + int islandId = getUnionFind().getElement( startIslandIndex ).m_id; + + // find end index + for ( endIslandIndex = startIslandIndex; ( endIslandIndex < numElem ) && ( getUnionFind().getElement( endIslandIndex ).m_id == islandId ); endIslandIndex++ ) + { + } + // check if island is sleeping + bool islandSleeping = true; + for ( int iElem = startIslandIndex; iElem < endIslandIndex; iElem++ ) + { + int i = getUnionFind().getElement( iElem ).m_sz; + btCollisionObject* colObj = collisionObjects[ i ]; + if ( colObj->isActive() ) + { + islandSleeping = false; + } + } + if ( !islandSleeping ) + { + // want to count the number of bodies before allocating the island to optimize memory usage of the Island structures + int numBodies = endIslandIndex - startIslandIndex; + Island* island = allocateIsland( islandId, numBodies ); + island->isSleeping = false; + + // add bodies to island + for ( int iElem = startIslandIndex; iElem < endIslandIndex; iElem++ ) + { + int i = getUnionFind().getElement( iElem ).m_sz; + btCollisionObject* colObj = collisionObjects[ i ]; + island->bodyArray.push_back( colObj ); + } + } + } + +} + + +void btSimulationIslandManagerMt::addManifoldsToIslands( btDispatcher* dispatcher ) +{ + // walk all the manifolds, activating bodies touched by kinematic objects, and add each manifold to its Island + int maxNumManifolds = dispatcher->getNumManifolds(); + for ( int i = 0; i < maxNumManifolds; i++ ) + { + btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal( i ); + + const btCollisionObject* colObj0 = static_cast( manifold->getBody0() ); + const btCollisionObject* colObj1 = static_cast( manifold->getBody1() ); + + ///@todo: check sleeping conditions! + if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) || + ( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) ) + { + + //kinematic objects don't merge islands, but wake up all connected objects + if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING ) + { + if ( colObj0->hasContactResponse() ) + colObj1->activate(); + } + if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING ) + { + if ( colObj1->hasContactResponse() ) + colObj0->activate(); + } + //filtering for response + if ( dispatcher->needsResponse( colObj0, colObj1 ) ) + { + // scatter manifolds into various islands + int islandId = getIslandId( manifold ); + // if island not sleeping, + if ( Island* island = getIsland( islandId ) ) + { + island->manifoldArray.push_back( manifold ); + } + } + } + } +} + + +void btSimulationIslandManagerMt::addConstraintsToIslands( btAlignedObjectArray& constraints ) +{ + // walk constraints + for ( int i = 0; i < constraints.size(); i++ ) + { + // scatter constraints into various islands + btTypedConstraint* constraint = constraints[ i ]; + if ( constraint->isEnabled() ) + { + int islandId = btGetConstraintIslandId( constraint ); + // if island is not sleeping, + if ( Island* island = getIsland( islandId ) ) + { + island->constraintArray.push_back( constraint ); + } + } + } +} + + +void btSimulationIslandManagerMt::mergeIslands() +{ + // sort islands in order of decreasing batch size + m_activeIslands.quickSort( IslandBatchSizeSortPredicate() ); + + // merge small islands to satisfy minimum batch size + // find first small batch island + int destIslandIndex = m_activeIslands.size(); + for ( int i = 0; i < m_activeIslands.size(); ++i ) + { + Island* island = m_activeIslands[ i ]; + int batchSize = calcBatchCost( island ); + if ( batchSize < m_minimumSolverBatchSize ) + { + destIslandIndex = i; + break; + } + } + int lastIndex = m_activeIslands.size() - 1; + while ( destIslandIndex < lastIndex ) + { + // merge islands from the back of the list + Island* island = m_activeIslands[ destIslandIndex ]; + int numBodies = island->bodyArray.size(); + int numManifolds = island->manifoldArray.size(); + int numConstraints = island->constraintArray.size(); + int firstIndex = lastIndex; + // figure out how many islands we want to merge and find out how many bodies, manifolds and constraints we will have + while ( true ) + { + Island* src = m_activeIslands[ firstIndex ]; + numBodies += src->bodyArray.size(); + numManifolds += src->manifoldArray.size(); + numConstraints += src->constraintArray.size(); + int batchCost = calcBatchCost( numBodies, numManifolds, numConstraints ); + if ( batchCost >= m_minimumSolverBatchSize ) + { + break; + } + if ( firstIndex - 1 == destIslandIndex ) + { + break; + } + firstIndex--; + } + // reserve space for these pointers to minimize reallocation + island->bodyArray.reserve( numBodies ); + island->manifoldArray.reserve( numManifolds ); + island->constraintArray.reserve( numConstraints ); + // merge islands + for ( int i = firstIndex; i <= lastIndex; ++i ) + { + island->append( *m_activeIslands[ i ] ); + } + // shrink array to exclude the islands that were merged from + m_activeIslands.resize( firstIndex ); + lastIndex = firstIndex - 1; + destIslandIndex++; + } +} + + +void btSimulationIslandManagerMt::defaultIslandDispatch( btAlignedObjectArray* islandsPtr, IslandCallback* callback ) +{ + // serial dispatch + btAlignedObjectArray& islands = *islandsPtr; + for ( int i = 0; i < islands.size(); ++i ) + { + Island* island = islands[ i ]; + btPersistentManifold** manifolds = island->manifoldArray.size() ? &island->manifoldArray[ 0 ] : NULL; + btTypedConstraint** constraintsPtr = island->constraintArray.size() ? &island->constraintArray[ 0 ] : NULL; + callback->processIsland( &island->bodyArray[ 0 ], + island->bodyArray.size(), + manifolds, + island->manifoldArray.size(), + constraintsPtr, + island->constraintArray.size(), + island->id + ); + } +} + +///@todo: this is random access, it can be walked 'cache friendly'! +void btSimulationIslandManagerMt::buildAndProcessIslands( btDispatcher* dispatcher, + btCollisionWorld* collisionWorld, + btAlignedObjectArray& constraints, + IslandCallback* callback + ) +{ + btCollisionObjectArray& collisionObjects = collisionWorld->getCollisionObjectArray(); + + buildIslands(dispatcher,collisionWorld); + + BT_PROFILE("processIslands"); + + if(!getSplitIslands()) + { + btPersistentManifold** manifolds = dispatcher->getInternalManifoldPointer(); + int maxNumManifolds = dispatcher->getNumManifolds(); + + for ( int i = 0; i < maxNumManifolds; i++ ) + { + btPersistentManifold* manifold = manifolds[ i ]; + + const btCollisionObject* colObj0 = static_cast( manifold->getBody0() ); + const btCollisionObject* colObj1 = static_cast( manifold->getBody1() ); + + ///@todo: check sleeping conditions! + if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) || + ( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) ) + { + + //kinematic objects don't merge islands, but wake up all connected objects + if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING ) + { + if ( colObj0->hasContactResponse() ) + colObj1->activate(); + } + if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING ) + { + if ( colObj1->hasContactResponse() ) + colObj0->activate(); + } + } + } + btTypedConstraint** constraintsPtr = constraints.size() ? &constraints[ 0 ] : NULL; + callback->processIsland(&collisionObjects[0], + collisionObjects.size(), + manifolds, + maxNumManifolds, + constraintsPtr, + constraints.size(), + -1 + ); + } + else + { + initIslandPools(); + + //traverse the simulation islands, and call the solver, unless all objects are sleeping/deactivated + addBodiesToIslands( collisionWorld ); + addManifoldsToIslands( dispatcher ); + addConstraintsToIslands( constraints ); + + // m_activeIslands array should now contain all non-sleeping Islands, and each Island should + // have all the necessary bodies, manifolds and constraints. + + // if we want to merge islands with small batch counts, + if ( m_minimumSolverBatchSize > 1 ) + { + mergeIslands(); + } + // dispatch islands to solver + m_islandDispatch( &m_activeIslands, callback ); + } +} diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h b/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h new file mode 100644 index 000000000..c1f5018bd --- /dev/null +++ b/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h @@ -0,0 +1,109 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef BT_SIMULATION_ISLAND_MANAGER_MT_H +#define BT_SIMULATION_ISLAND_MANAGER_MT_H + +#include "btSimulationIslandManager.h" + +class btTypedConstraint; + + +/// +/// SimulationIslandManagerMt -- Multithread capable version of SimulationIslandManager +/// Splits the world up into islands which can be solved in parallel. +/// In order to solve islands in parallel, an IslandDispatch function +/// must be provided which will dispatch calls to multiple threads. +/// The amount of parallelism that can be achieved depends on the number +/// of islands. If only a single island exists, then no parallelism is +/// possible. +/// +class btSimulationIslandManagerMt : public btSimulationIslandManager +{ +public: + struct Island + { + // a simulation island consisting of bodies, manifolds and constraints, + // to be passed into a constraint solver. + btAlignedObjectArray bodyArray; + btAlignedObjectArray manifoldArray; + btAlignedObjectArray constraintArray; + int id; // island id + bool isSleeping; + + void append( const Island& other ); // add bodies, manifolds, constraints to my own + }; + struct IslandCallback + { + virtual ~IslandCallback() {}; + + virtual void processIsland( btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifolds, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + int islandId + ) = 0; + }; + typedef void( *IslandDispatchFunc ) ( btAlignedObjectArray* islands, IslandCallback* callback ); + static void defaultIslandDispatch( btAlignedObjectArray* islands, IslandCallback* callback ); +protected: + btAlignedObjectArray m_allocatedIslands; // owner of all Islands + btAlignedObjectArray m_activeIslands; // islands actively in use + btAlignedObjectArray m_freeIslands; // islands ready to be reused + btAlignedObjectArray m_lookupIslandFromId; // big lookup table to map islandId to Island pointer + Island* m_batchIsland; + int m_minimumSolverBatchSize; + int m_batchIslandMinBodyCount; + IslandDispatchFunc m_islandDispatch; + + Island* getIsland( int id ); + virtual Island* allocateIsland( int id, int numBodies ); + virtual void initIslandPools(); + virtual void addBodiesToIslands( btCollisionWorld* collisionWorld ); + virtual void addManifoldsToIslands( btDispatcher* dispatcher ); + virtual void addConstraintsToIslands( btAlignedObjectArray& constraints ); + virtual void mergeIslands(); + +public: + btSimulationIslandManagerMt(); + virtual ~btSimulationIslandManagerMt(); + + virtual void buildAndProcessIslands( btDispatcher* dispatcher, btCollisionWorld* collisionWorld, btAlignedObjectArray& constraints, IslandCallback* callback ); + + virtual void buildIslands(btDispatcher* dispatcher,btCollisionWorld* colWorld); + + int getMinimumSolverBatchSize() const + { + return m_minimumSolverBatchSize; + } + void setMinimumSolverBatchSize( int sz ) + { + m_minimumSolverBatchSize = sz; + } + IslandDispatchFunc getIslandDispatchFunction() const + { + return m_islandDispatch; + } + // allow users to set their own dispatch function for multithreaded dispatch + void setIslandDispatchFunction( IslandDispatchFunc func ) + { + m_islandDispatch = func; + } +}; + +#endif //BT_SIMULATION_ISLAND_MANAGER_H + diff --git a/src/BulletCollision/Gimpact/btGImpactShape.cpp b/src/BulletCollision/Gimpact/btGImpactShape.cpp index ac8efdf38..30c85e3ff 100644 --- a/src/BulletCollision/Gimpact/btGImpactShape.cpp +++ b/src/BulletCollision/Gimpact/btGImpactShape.cpp @@ -23,6 +23,59 @@ subject to the following restrictions: #include "btGImpactMassUtil.h" +btGImpactMeshShapePart::btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part ) +{ + // moved from .h to .cpp because of conditional compilation + // (The setting of BT_THREADSAFE may differ between various cpp files, so it is best to + // avoid using it in h files) + m_primitive_manager.m_meshInterface = meshInterface; + m_primitive_manager.m_part = part; + m_box_set.setPrimitiveManager( &m_primitive_manager ); +#if BT_THREADSAFE + // If threadsafe is requested, this object uses a different lock/unlock + // model with the btStridingMeshInterface -- lock once when the object is constructed + // and unlock once in the destructor. + // The other way of locking and unlocking for each collision check in the narrowphase + // is not threadsafe. Note these are not thread-locks, they are calls to the meshInterface's + // getLockedReadOnlyVertexIndexBase virtual function, which by default just returns a couple of + // pointers. In theory a client could override the lock function to do all sorts of + // things like reading data from GPU memory, or decompressing data on the fly, but such things + // do not seem all that likely or useful, given the performance cost. + m_primitive_manager.lock(); +#endif +} + +btGImpactMeshShapePart::~btGImpactMeshShapePart() +{ + // moved from .h to .cpp because of conditional compilation +#if BT_THREADSAFE + m_primitive_manager.unlock(); +#endif +} + +void btGImpactMeshShapePart::lockChildShapes() const +{ + // moved from .h to .cpp because of conditional compilation +#if ! BT_THREADSAFE + // called in the narrowphase -- not threadsafe! + void * dummy = (void*) ( m_box_set.getPrimitiveManager() ); + TrimeshPrimitiveManager * dummymanager = static_cast( dummy ); + dummymanager->lock(); +#endif +} + +void btGImpactMeshShapePart::unlockChildShapes() const +{ + // moved from .h to .cpp because of conditional compilation +#if ! BT_THREADSAFE + // called in the narrowphase -- not threadsafe! + void * dummy = (void*) ( m_box_set.getPrimitiveManager() ); + TrimeshPrimitiveManager * dummymanager = static_cast( dummy ); + dummymanager->unlock(); +#endif +} + + #define CALC_EXACT_INERTIA 1 diff --git a/src/BulletCollision/Gimpact/btGImpactShape.h b/src/BulletCollision/Gimpact/btGImpactShape.h index 3d1f48d47..9d7e40562 100644 --- a/src/BulletCollision/Gimpact/btGImpactShape.h +++ b/src/BulletCollision/Gimpact/btGImpactShape.h @@ -722,17 +722,8 @@ public: m_box_set.setPrimitiveManager(&m_primitive_manager); } - - btGImpactMeshShapePart(btStridingMeshInterface * meshInterface, int part) - { - m_primitive_manager.m_meshInterface = meshInterface; - m_primitive_manager.m_part = part; - m_box_set.setPrimitiveManager(&m_primitive_manager); - } - - virtual ~btGImpactMeshShapePart() - { - } + btGImpactMeshShapePart( btStridingMeshInterface * meshInterface, int part ); + virtual ~btGImpactMeshShapePart(); //! if true, then its children must get transforms. virtual bool childrenHasTransform() const @@ -742,19 +733,8 @@ public: //! call when reading child shapes - virtual void lockChildShapes() const - { - void * dummy = (void*)(m_box_set.getPrimitiveManager()); - TrimeshPrimitiveManager * dummymanager = static_cast(dummy); - dummymanager->lock(); - } - - virtual void unlockChildShapes() const - { - void * dummy = (void*)(m_box_set.getPrimitiveManager()); - TrimeshPrimitiveManager * dummymanager = static_cast(dummy); - dummymanager->unlock(); - } + virtual void lockChildShapes() const; + virtual void unlockChildShapes() const; //! Gets the number of children virtual int getNumChildShapes() const diff --git a/src/BulletDynamics/CMakeLists.txt b/src/BulletDynamics/CMakeLists.txt index 656fc8433..f3d33fc90 100644 --- a/src/BulletDynamics/CMakeLists.txt +++ b/src/BulletDynamics/CMakeLists.txt @@ -21,6 +21,7 @@ SET(BulletDynamics_SRCS ConstraintSolver/btTypedConstraint.cpp ConstraintSolver/btUniversalConstraint.cpp Dynamics/btDiscreteDynamicsWorld.cpp + Dynamics/btDiscreteDynamicsWorldMt.cpp Dynamics/btRigidBody.cpp Dynamics/btSimpleDynamicsWorld.cpp # Dynamics/Bullet-C-API.cpp @@ -70,6 +71,7 @@ SET(ConstraintSolver_HDRS SET(Dynamics_HDRS Dynamics/btActionInterface.h Dynamics/btDiscreteDynamicsWorld.h + Dynamics/btDiscreteDynamicsWorldMt.h Dynamics/btDynamicsWorld.h Dynamics/btSimpleDynamicsWorld.h Dynamics/btRigidBody.h diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index aced8fae1..988fd2459 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -716,8 +716,64 @@ btSolverConstraint& btSequentialImpulseConstraintSolver::addTorsionalFrictionCon int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& body,btScalar timeStep) { +#if BT_THREADSAFE + int solverBodyId = -1; + if ( !body.isStaticOrKinematicObject() ) + { + // dynamic body + // Dynamic bodies can only be in one island, so it's safe to write to the companionId + solverBodyId = body.getCompanionId(); + if ( solverBodyId < 0 ) + { + if ( btRigidBody* rb = btRigidBody::upcast( &body ) ) + { + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + body.setCompanionId( solverBodyId ); + } + } + } + else if ( body.isStaticObject() ) + { + // all fixed bodies (inf mass) get mapped to a single solver id + if ( m_fixedBodyId < 0 ) + { + m_fixedBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& fixedBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &fixedBody, 0, timeStep ); + } + solverBodyId = m_fixedBodyId; + } + else + { + // kinematic + // Kinematic bodies can be in multiple islands at once, so it is a + // race condition to write to them, so we use an alternate method + // to record the solverBodyId + int uniqueId = body.getUniqueId(); + const int INVALID_SOLVER_BODY_ID = -1; + if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) + { + m_kinematicBodyUniqueIdToSolverBodyTable.resize(uniqueId + 1, INVALID_SOLVER_BODY_ID); + } + solverBodyId = m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ]; + // if no table entry yet, + if ( solverBodyId == INVALID_SOLVER_BODY_ID ) + { + // create a table entry for this body + btRigidBody* rb = btRigidBody::upcast( &body ); + solverBodyId = m_tmpSolverBodyPool.size(); + btSolverBody& solverBody = m_tmpSolverBodyPool.expand(); + initSolverBody( &solverBody, &body, timeStep ); + m_kinematicBodyUniqueIdToSolverBodyTable[ uniqueId ] = solverBodyId; + } + } + btAssert( solverBodyId < m_tmpSolverBodyPool.size() ); + return solverBodyId; +#else // BT_THREADSAFE - int solverBodyIdA = -1; + int solverBodyIdA = -1; if (body.getCompanionId() >= 0) { @@ -749,6 +805,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& } return solverBodyIdA; +#endif // BT_THREADSAFE } #include @@ -1263,7 +1320,9 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol { bodies[i]->setCompanionId(-1); } - +#if BT_THREADSAFE + m_kinematicBodyUniqueIdToSolverBodyTable.resize( 0 ); +#endif // BT_THREADSAFE m_tmpSolverBodyPool.reserve(numBodies+1); m_tmpSolverBodyPool.resize(0); diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h index 7eafa3a68..7f594208f 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h @@ -45,6 +45,14 @@ protected: btAlignedObjectArray m_tmpConstraintSizesPool; int m_maxOverrideNumSolverIterations; int m_fixedBodyId; + // When running solvers on multiple threads, a race condition exists for Kinematic objects that + // participate in more than one solver. + // The getOrInitSolverBody() function writes the companionId of each body (storing the index of the solver body + // for the current solver). For normal dynamic bodies it isn't an issue because they can only be in one island + // (and therefore one thread) at a time. But kinematic bodies can be in multiple islands at once. + // To avoid this race condition, this solver does not write the companionId, instead it stores the solver body + // index in this solver-local table, indexed by the uniqueId of the body. + btAlignedObjectArray m_kinematicBodyUniqueIdToSolverBodyTable; // only used for multithreading btSingleConstraintRowSolver m_resolveSingleConstraintRowGeneric; btSingleConstraintRowSolver m_resolveSingleConstraintRowLowerLimit; diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index 361a054ec..808f2720c 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -878,25 +878,12 @@ public: int gNumClampedCcdMotions=0; -void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) +void btDiscreteDynamicsWorld::createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep) { - BT_PROFILE("createPredictiveContacts"); - - { - BT_PROFILE("release predictive contact manifolds"); - - for (int i=0;im_dispatcher1->releaseManifold(manifold); - } - m_predictiveManifolds.clear(); - } - btTransform predictedTrans; - for ( int i=0;isetHitFraction(1.f); if (body->isActive() && (!body->isStaticOrKinematicObject())) @@ -953,7 +940,9 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject); + btMutexLock( &m_predictiveManifoldsMutex ); m_predictiveManifolds.push_back(manifold); + btMutexUnlock( &m_predictiveManifoldsMutex ); btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec; btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB; @@ -974,13 +963,35 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) } } } -void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) + +void btDiscreteDynamicsWorld::releasePredictiveContacts() +{ + BT_PROFILE( "release predictive contact manifolds" ); + + for ( int i = 0; i < m_predictiveManifolds.size(); i++ ) + { + btPersistentManifold* manifold = m_predictiveManifolds[ i ]; + this->m_dispatcher1->releaseManifold( manifold ); + } + m_predictiveManifolds.clear(); +} + +void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) +{ + BT_PROFILE("createPredictiveContacts"); + releasePredictiveContacts(); + if (m_nonStaticRigidBodies.size() > 0) + { + createPredictiveContactsInternal( &m_nonStaticRigidBodies[ 0 ], m_nonStaticRigidBodies.size(), timeStep ); + } +} + +void btDiscreteDynamicsWorld::integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ) { - BT_PROFILE("integrateTransforms"); btTransform predictedTrans; - for ( int i=0;isetHitFraction(1.f); if (body->isActive() && (!body->isStaticOrKinematicObject())) @@ -1080,7 +1091,17 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) } - ///this should probably be switched on by default, but it is not well tested yet +} + +void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) +{ + BT_PROFILE("integrateTransforms"); + if (m_nonStaticRigidBodies.size() > 0) + { + integrateTransformsInternal(&m_nonStaticRigidBodies[0], m_nonStaticRigidBodies.size(), timeStep); + } + + ///this should probably be switched on by default, but it is not well tested yet if (m_applySpeculativeContactRestitution) { BT_PROFILE("apply speculative contact restitution"); @@ -1114,14 +1135,12 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) } } } - } - void btDiscreteDynamicsWorld::predictUnconstraintMotion(btScalar timeStep) { BT_PROFILE("predictUnconstraintMotion"); diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h index dd3d1c366..d2789cc6b 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h @@ -30,6 +30,7 @@ class btIDebugDraw; struct InplaceSolverIslandCallback; #include "LinearMath/btAlignedObjectArray.h" +#include "LinearMath/btThreads.h" ///btDiscreteDynamicsWorld provides discrete rigid body simulation @@ -68,9 +69,11 @@ protected: bool m_latencyMotionStateInterpolation; btAlignedObjectArray m_predictiveManifolds; + btSpinMutex m_predictiveManifoldsMutex; // used to synchronize threads creating predictive contacts virtual void predictUnconstraintMotion(btScalar timeStep); + void integrateTransformsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel virtual void integrateTransforms(btScalar timeStep); virtual void calculateSimulationIslands(); @@ -85,7 +88,9 @@ protected: virtual void internalSingleStepSimulation( btScalar timeStep); - void createPredictiveContacts(btScalar timeStep); + void releasePredictiveContacts(); + void createPredictiveContactsInternal( btRigidBody** bodies, int numBodies, btScalar timeStep ); // can be called in parallel + virtual void createPredictiveContacts(btScalar timeStep); virtual void saveKinematicState(btScalar timeStep); diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp new file mode 100644 index 000000000..d0906e9c5 --- /dev/null +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp @@ -0,0 +1,168 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "btDiscreteDynamicsWorldMt.h" + +//collision detection +#include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h" +#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" +#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" +#include "BulletCollision/CollisionShapes/btCollisionShape.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h" +#include "LinearMath/btTransformUtil.h" +#include "LinearMath/btQuickprof.h" + +//rigidbody & constraints +#include "BulletDynamics/Dynamics/btRigidBody.h" +#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" +#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h" +#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h" +#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" +#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h" +#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" +#include "BulletDynamics/ConstraintSolver/btContactConstraint.h" + + +#include "LinearMath/btIDebugDraw.h" +#include "BulletCollision/CollisionShapes/btSphereShape.h" + + +#include "BulletDynamics/Dynamics/btActionInterface.h" +#include "LinearMath/btQuickprof.h" +#include "LinearMath/btMotionState.h" + +#include "LinearMath/btSerializer.h" + + +struct InplaceSolverIslandCallbackMt : public btSimulationIslandManagerMt::IslandCallback +{ + btContactSolverInfo* m_solverInfo; + btConstraintSolver* m_solver; + btIDebugDraw* m_debugDrawer; + btDispatcher* m_dispatcher; + + InplaceSolverIslandCallbackMt( + btConstraintSolver* solver, + btStackAlloc* stackAlloc, + btDispatcher* dispatcher) + :m_solverInfo(NULL), + m_solver(solver), + m_debugDrawer(NULL), + m_dispatcher(dispatcher) + { + + } + + InplaceSolverIslandCallbackMt& operator=(InplaceSolverIslandCallbackMt& other) + { + btAssert(0); + (void)other; + return *this; + } + + SIMD_FORCE_INLINE void setup ( btContactSolverInfo* solverInfo, btIDebugDraw* debugDrawer) + { + btAssert(solverInfo); + m_solverInfo = solverInfo; + m_debugDrawer = debugDrawer; + } + + + virtual void processIsland( btCollisionObject** bodies, + int numBodies, + btPersistentManifold** manifolds, + int numManifolds, + btTypedConstraint** constraints, + int numConstraints, + int islandId + ) + { + m_solver->solveGroup( bodies, + numBodies, + manifolds, + numManifolds, + constraints, + numConstraints, + *m_solverInfo, + m_debugDrawer, + m_dispatcher + ); + } + +}; + + + +btDiscreteDynamicsWorldMt::btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) +: btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration) +{ + if (m_ownsIslandManager) + { + m_islandManager->~btSimulationIslandManager(); + btAlignedFree( m_islandManager); + } + { + void* mem = btAlignedAlloc(sizeof(InplaceSolverIslandCallbackMt),16); + m_solverIslandCallbackMt = new (mem) InplaceSolverIslandCallbackMt (m_constraintSolver, 0, dispatcher); + } + { + void* mem = btAlignedAlloc(sizeof(btSimulationIslandManagerMt),16); + btSimulationIslandManagerMt* im = new (mem) btSimulationIslandManagerMt(); + m_islandManager = im; + im->setMinimumSolverBatchSize( m_solverInfo.m_minimumSolverBatchSize ); + } +} + + +btDiscreteDynamicsWorldMt::~btDiscreteDynamicsWorldMt() +{ + if (m_solverIslandCallbackMt) + { + m_solverIslandCallbackMt->~InplaceSolverIslandCallbackMt(); + btAlignedFree(m_solverIslandCallbackMt); + } + if (m_ownsConstraintSolver) + { + m_constraintSolver->~btConstraintSolver(); + btAlignedFree(m_constraintSolver); + } +} + + +void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo) +{ + BT_PROFILE("solveConstraints"); + + + m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer()); + m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); + + /// solve all the constraints for this island + btSimulationIslandManagerMt* im = static_cast(m_islandManager); + im->buildAndProcessIslands( getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_constraints, m_solverIslandCallbackMt ); + + m_constraintSolver->allSolved(solverInfo, m_debugDrawer); +} + + +void btDiscreteDynamicsWorldMt::addCollisionObject(btCollisionObject* collisionObject, short int collisionFilterGroup, short int collisionFilterMask) +{ + collisionObject->setUniqueId(m_collisionObjects.size()); + btDiscreteDynamicsWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask); +} diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h new file mode 100644 index 000000000..af40129b8 --- /dev/null +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h @@ -0,0 +1,44 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#ifndef BT_DISCRETE_DYNAMICS_WORLD_MT_H +#define BT_DISCRETE_DYNAMICS_WORLD_MT_H + +#include "btDiscreteDynamicsWorld.h" + +struct InplaceSolverIslandCallbackMt; + +/// +/// btDiscreteDynamicsWorldMt -- a version of DiscreteDynamicsWorld with some minor changes to support +/// solving simulation islands on multiple threads. +/// +ATTRIBUTE_ALIGNED16(class) btDiscreteDynamicsWorldMt : public btDiscreteDynamicsWorld +{ +protected: + InplaceSolverIslandCallbackMt* m_solverIslandCallbackMt; + + virtual void solveConstraints(btContactSolverInfo& solverInfo); + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); + + btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); + virtual ~btDiscreteDynamicsWorldMt(); +}; + +#endif //BT_DISCRETE_DYNAMICS_WORLD_H diff --git a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp index e73f4acc4..8f54c5262 100644 --- a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp +++ b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.cpp @@ -215,12 +215,12 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal) jointNodeArray.reserve(2*m_allConstraintPtrArray.size()); } - static btMatrixXu J3; + btMatrixXu& J3 = m_scratchJ3; { BT_PROFILE("J3.resize"); J3.resize(2*m,8); } - static btMatrixXu JinvM3; + btMatrixXu& JinvM3 = m_scratchJInvM3; { BT_PROFILE("JinvM3.resize/setZero"); @@ -230,7 +230,7 @@ void btMLCPSolver::createMLCPFast(const btContactSolverInfo& infoGlobal) } int cur=0; int rowOffset = 0; - static btAlignedObjectArray ofs; + btAlignedObjectArray& ofs = m_scratchOfs; { BT_PROFILE("ofs resize"); ofs.resize(0); @@ -489,7 +489,7 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal) } } - static btMatrixXu Minv; + btMatrixXu& Minv = m_scratchMInv; Minv.resize(6*numBodies,6*numBodies); Minv.setZero(); for (int i=0;igetInvInertiaTensorWorld()[r][c] : 0); } - static btMatrixXu J; + btMatrixXu& J = m_scratchJ; J.resize(numConstraintRows,6*numBodies); J.setZero(); @@ -541,10 +541,10 @@ void btMLCPSolver::createMLCP(const btContactSolverInfo& infoGlobal) } } - static btMatrixXu J_transpose; + btMatrixXu& J_transpose = m_scratchJTranspose; J_transpose= J.transpose(); - static btMatrixXu tmp; + btMatrixXu& tmp = m_scratchTmp; { { diff --git a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h index 88d587c03..26b482ddc 100644 --- a/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h +++ b/src/BulletDynamics/MLCPSolvers/btMLCPSolver.h @@ -43,6 +43,17 @@ protected: btMLCPSolverInterface* m_solver; int m_fallback; + /// The following scratch variables are not stateful -- contents are cleared prior to each use. + /// They are only cached here to avoid extra memory allocations and deallocations and to ensure + /// that multiple instances of the solver can be run in parallel. + btMatrixXu m_scratchJ3; + btMatrixXu m_scratchJInvM3; + btAlignedObjectArray m_scratchOfs; + btMatrixXu m_scratchMInv; + btMatrixXu m_scratchJ; + btMatrixXu m_scratchJTranspose; + btMatrixXu m_scratchTmp; + virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies, int numBodies, btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer); diff --git a/src/LinearMath/CMakeLists.txt b/src/LinearMath/CMakeLists.txt index 3846fb71d..9c1980442 100644 --- a/src/LinearMath/CMakeLists.txt +++ b/src/LinearMath/CMakeLists.txt @@ -11,6 +11,7 @@ SET(LinearMath_SRCS btPolarDecomposition.cpp btQuickprof.cpp btSerializer.cpp + btThreads.cpp btVector3.cpp ) @@ -38,6 +39,7 @@ SET(LinearMath_HDRS btScalar.h btSerializer.h btStackAlloc.h + btThreads.h btTransform.h btTransformUtil.h btVector3.h diff --git a/src/LinearMath/btAlignedObjectArray.h b/src/LinearMath/btAlignedObjectArray.h index 6193ef7f4..146ae72e8 100644 --- a/src/LinearMath/btAlignedObjectArray.h +++ b/src/LinearMath/btAlignedObjectArray.h @@ -322,7 +322,7 @@ protected: { public: - bool operator() ( const T& a, const T& b ) + bool operator() ( const T& a, const T& b ) const { return ( a < b ); } diff --git a/src/LinearMath/btConvexHull.cpp b/src/LinearMath/btConvexHull.cpp index 2ae855dbc..f8b79a1ab 100644 --- a/src/LinearMath/btConvexHull.cpp +++ b/src/LinearMath/btConvexHull.cpp @@ -87,7 +87,7 @@ btVector3 NormalOf(const btVector3 *vert, const int n); btVector3 PlaneLineIntersection(const btPlane &plane, const btVector3 &p0, const btVector3 &p1) { // returns the point where the line p0-p1 intersects the plane n&d - static btVector3 dif; + btVector3 dif; dif = p1-p0; btScalar dn= btDot(plane.normal,dif); btScalar t = -(plane.dist+btDot(plane.normal,p0) )/dn; @@ -112,7 +112,7 @@ btVector3 TriNormal(const btVector3 &v0, const btVector3 &v1, const btVector3 &v btScalar DistanceBetweenLines(const btVector3 &ustart, const btVector3 &udir, const btVector3 &vstart, const btVector3 &vdir, btVector3 *upoint, btVector3 *vpoint) { - static btVector3 cp; + btVector3 cp; cp = btCross(udir,vdir).normalized(); btScalar distu = -btDot(cp,ustart); diff --git a/src/LinearMath/btPoolAllocator.h b/src/LinearMath/btPoolAllocator.h index ef2084537..efdeda8ff 100644 --- a/src/LinearMath/btPoolAllocator.h +++ b/src/LinearMath/btPoolAllocator.h @@ -18,6 +18,7 @@ subject to the following restrictions: #include "btScalar.h" #include "btAlignedAllocator.h" +#include "btThreads.h" ///The btPoolAllocator class allows to efficiently allocate a large pool of objects, instead of dynamically allocating them separately. class btPoolAllocator @@ -27,6 +28,7 @@ class btPoolAllocator int m_freeCount; void* m_firstFree; unsigned char* m_pool; + btSpinMutex m_mutex; // only used if BT_THREADSAFE public: @@ -71,11 +73,16 @@ public: { // release mode fix (void)size; + btMutexLock(&m_mutex); btAssert(!size || size<=m_elemSize); - btAssert(m_freeCount>0); + //btAssert(m_freeCount>0); // should return null if all full void* result = m_firstFree; - m_firstFree = *(void**)m_firstFree; - --m_freeCount; + if (NULL != m_firstFree) + { + m_firstFree = *(void**)m_firstFree; + --m_freeCount; + } + btMutexUnlock(&m_mutex); return result; } @@ -95,9 +102,11 @@ public: if (ptr) { btAssert((unsigned char*)ptr >= m_pool && (unsigned char*)ptr < m_pool + m_maxElements * m_elemSize); + btMutexLock(&m_mutex); *(void**)ptr = m_firstFree; m_firstFree = ptr; ++m_freeCount; + btMutexUnlock(&m_mutex); } } diff --git a/src/LinearMath/btQuickprof.cpp b/src/LinearMath/btQuickprof.cpp index cfbda3628..f587770e8 100644 --- a/src/LinearMath/btQuickprof.cpp +++ b/src/LinearMath/btQuickprof.cpp @@ -16,6 +16,9 @@ #include "btQuickprof.h" +#if BT_THREADSAFE +#include "btThreads.h" +#endif //#if BT_THREADSAFE #ifdef __CELLOS_LV2__ @@ -455,6 +458,14 @@ unsigned long int CProfileManager::ResetTime = 0; *=============================================================================================*/ void CProfileManager::Start_Profile( const char * name ) { +#if BT_THREADSAFE + // profile system is not designed for profiling multiple threads + // disable collection on all but the main thread + if ( !btIsMainThread() ) + { + return; + } +#endif //#if BT_THREADSAFE if (name != CurrentNode->Get_Name()) { CurrentNode = CurrentNode->Get_Sub_Node( name ); } @@ -468,6 +479,14 @@ void CProfileManager::Start_Profile( const char * name ) *=============================================================================================*/ void CProfileManager::Stop_Profile( void ) { +#if BT_THREADSAFE + // profile system is not designed for profiling multiple threads + // disable collection on all but the main thread + if ( !btIsMainThread() ) + { + return; + } +#endif //#if BT_THREADSAFE // Return will indicate whether we should back up to our parent (we may // be profiling a recursive function) if (CurrentNode->Return()) { diff --git a/src/LinearMath/btThreads.cpp b/src/LinearMath/btThreads.cpp new file mode 100644 index 000000000..4bef499f7 --- /dev/null +++ b/src/LinearMath/btThreads.cpp @@ -0,0 +1,230 @@ +/* +Copyright (c) 2003-2014 Erwin Coumans http://bullet.googlecode.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + +#include "btThreads.h" + +// +// Lightweight spin-mutex based on atomics +// Using ordinary system-provided mutexes like Windows critical sections was noticeably slower +// presumably because when it fails to lock at first it would sleep the thread and trigger costly +// context switching. +// + +#if BT_THREADSAFE + +#if __cplusplus >= 201103L + +// for anything claiming full C++11 compliance, use C++11 atomics +// on GCC or Clang you need to compile with -std=c++11 +#define USE_CPP11_ATOMICS 1 + +#elif defined( _MSC_VER ) + +// on MSVC, use intrinsics instead +#define USE_MSVC_INTRINSICS 1 + +#elif defined( __GNUC__ ) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 7)) + +// available since GCC 4.7 and some versions of clang +// todo: check for clang +#define USE_GCC_BUILTIN_ATOMICS 1 + +#elif defined( __GNUC__ ) && (__GNUC__ == 4 && __GNUC_MINOR__ >= 1) + +// available since GCC 4.1 +#define USE_GCC_BUILTIN_ATOMICS_OLD 1 + +#endif + + +#if USE_CPP11_ATOMICS + +#include +#include + +#define THREAD_LOCAL_STATIC thread_local static + +bool btSpinMutex::tryLock() +{ + std::atomic* aDest = reinterpret_cast*>(&mLock); + int expected = 0; + return std::atomic_compare_exchange_weak_explicit( aDest, &expected, int(1), std::memory_order_acq_rel, std::memory_order_acquire ); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread. + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + std::atomic* aDest = reinterpret_cast*>(&mLock); + std::atomic_store_explicit( aDest, int(0), std::memory_order_release ); +} + + +#elif USE_MSVC_INTRINSICS + +#define WIN32_LEAN_AND_MEAN + +#include +#include + +#define THREAD_LOCAL_STATIC __declspec( thread ) static + + +bool btSpinMutex::tryLock() +{ + volatile long* aDest = reinterpret_cast(&mLock); + return ( 0 == _InterlockedCompareExchange( aDest, 1, 0) ); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + volatile long* aDest = reinterpret_cast( &mLock ); + _InterlockedExchange( aDest, 0 ); +} + +#elif USE_GCC_BUILTIN_ATOMICS + +#define THREAD_LOCAL_STATIC static __thread + + +bool btSpinMutex::tryLock() +{ + int expected = 0; + bool weak = false; + const int memOrderSuccess = __ATOMIC_ACQ_REL; + const int memOrderFail = __ATOMIC_ACQUIRE; + return __atomic_compare_exchange_n(&mLock, &expected, int(1), weak, memOrderSuccess, memOrderFail); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + __atomic_store_n(&mLock, int(0), __ATOMIC_RELEASE); +} + +#elif USE_GCC_BUILTIN_ATOMICS_OLD + + +#define THREAD_LOCAL_STATIC static __thread + +bool btSpinMutex::tryLock() +{ + return __sync_bool_compare_and_swap(&mLock, int(0), int(1)); +} + +void btSpinMutex::lock() +{ + // note: this lock does not sleep the thread + while (! tryLock()) + { + // spin + } +} + +void btSpinMutex::unlock() +{ + // write 0 + __sync_fetch_and_and(&mLock, int(0)); +} + +#else //#elif USE_MSVC_INTRINSICS + +#error "no threading primitives defined -- unknown platform" + +#endif //#else //#elif USE_MSVC_INTRINSICS + + +struct ThreadsafeCounter +{ + unsigned int mCounter; + btSpinMutex mMutex; + + ThreadsafeCounter() {mCounter=0;} + + unsigned int getNext() + { + // no need to optimize this with atomics, it is only called ONCE per thread! + mMutex.lock(); + unsigned int val = mCounter++; + mMutex.unlock(); + return val; + } +}; + +static ThreadsafeCounter gThreadCounter; + + +// return a unique index per thread, starting with 0 and counting up +unsigned int btGetCurrentThreadIndex() +{ + const unsigned int kNullIndex = ~0U; + THREAD_LOCAL_STATIC unsigned int sThreadIndex = kNullIndex; + if ( sThreadIndex == kNullIndex ) + { + sThreadIndex = gThreadCounter.getNext(); + } + return sThreadIndex; +} + +bool btIsMainThread() +{ + return btGetCurrentThreadIndex() == 0; +} + +#else // #if BT_THREADSAFE + +// These should not be called ever +void btSpinMutex::lock() +{ + btAssert(!"unimplemented btSpinMutex::lock() called"); +} + +void btSpinMutex::unlock() +{ + btAssert(!"unimplemented btSpinMutex::unlock() called"); +} + +bool btSpinMutex::tryLock() +{ + btAssert(!"unimplemented btSpinMutex::tryLock() called"); + return true; +} + +#endif // #else // #if BT_THREADSAFE + diff --git a/src/LinearMath/btThreads.h b/src/LinearMath/btThreads.h new file mode 100644 index 000000000..db710979f --- /dev/null +++ b/src/LinearMath/btThreads.h @@ -0,0 +1,76 @@ +/* +Copyright (c) 2003-2014 Erwin Coumans http://bullet.googlecode.com + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + + + +#ifndef BT_THREADS_H +#define BT_THREADS_H + +#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE + +/// +/// btSpinMutex -- lightweight spin-mutex implemented with atomic ops, never puts +/// a thread to sleep because it is designed to be used with a task scheduler +/// which has one thread per core and the threads don't sleep until they +/// run out of tasks. Not good for general purpose use. +/// +class btSpinMutex +{ + int mLock; + +public: + btSpinMutex() + { + mLock = 0; + } + void lock(); + void unlock(); + bool tryLock(); +}; + +#if BT_THREADSAFE + +// for internal Bullet use only +SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* mutex ) +{ + mutex->lock(); +} + +SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* mutex ) +{ + mutex->unlock(); +} + +SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* mutex ) +{ + return mutex->tryLock(); +} + +// for internal use only +bool btIsMainThread(); +unsigned int btGetCurrentThreadIndex(); +const unsigned int BT_MAX_THREAD_COUNT = 64; + +#else + +// for internal Bullet use only +// if BT_THREADSAFE is undefined or 0, should optimize away to nothing +SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* ) {} +SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* ) {} +SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* ) {return true;} + +#endif + + +#endif //BT_THREADS_H From bc34d0129ec94c6240ba970e8d7247998afc4e32 Mon Sep 17 00:00:00 2001 From: Kotik Andreev Date: Mon, 31 Oct 2016 01:45:44 +0300 Subject: [PATCH 002/102] Fix a little typo --- src/BulletCollision/CollisionShapes/btCollisionShape.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletCollision/CollisionShapes/btCollisionShape.h b/src/BulletCollision/CollisionShapes/btCollisionShape.h index 5e8656800..6c4916fbd 100644 --- a/src/BulletCollision/CollisionShapes/btCollisionShape.h +++ b/src/BulletCollision/CollisionShapes/btCollisionShape.h @@ -48,7 +48,7 @@ public: virtual void getBoundingSphere(btVector3& center,btScalar& radius) const; - ///getAngularMotionDisc returns the maximus radius needed for Conservative Advancement to handle time-of-impact with rotations. + ///getAngularMotionDisc returns the maximum radius needed for Conservative Advancement to handle time-of-impact with rotations. virtual btScalar getAngularMotionDisc() const; virtual btScalar getContactBreakingThreshold(btScalar defaultContactThresholdFactor) const; From 9d54f0cf8d9bf18c1b6d3c917695317b041c25e2 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 1 Nov 2016 15:46:09 -0700 Subject: [PATCH 003/102] Grasp soft body with rigid fingers. --- .../wsg50_one_motor_gripper_left_finger.urdf | 27 ++ .../wsg50_one_motor_gripper_no_finger.sdf | 307 ++++++++++++++++++ .../wsg50_one_motor_gripper_right_finger.urdf | 27 ++ .../RoboticsLearning/GripperGraspExample.cpp | 164 +++++++++- .../PhysicsServerCommandProcessor.cpp | 10 +- 5 files changed, 518 insertions(+), 17 deletions(-) create mode 100644 data/gripper/wsg50_one_motor_gripper_left_finger.urdf create mode 100644 data/gripper/wsg50_one_motor_gripper_no_finger.sdf create mode 100644 data/gripper/wsg50_one_motor_gripper_right_finger.urdf diff --git a/data/gripper/wsg50_one_motor_gripper_left_finger.urdf b/data/gripper/wsg50_one_motor_gripper_left_finger.urdf new file mode 100644 index 000000000..a5e58f6c4 --- /dev/null +++ b/data/gripper/wsg50_one_motor_gripper_left_finger.urdf @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/gripper/wsg50_one_motor_gripper_no_finger.sdf b/data/gripper/wsg50_one_motor_gripper_no_finger.sdf new file mode 100644 index 000000000..878b1ee14 --- /dev/null +++ b/data/gripper/wsg50_one_motor_gripper_no_finger.sdf @@ -0,0 +1,307 @@ + + + + + 0 0 0.4 3.14 0 0 + + + + + + world + base_link + + 0 0 1 + + -10 + 10 + 1 + 1 + + + 0 + 0 + 0 + 0 + + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 1.2 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/WSG50_110.stl + + + + + + + + + + + 0 0 0.03 0 0 0 + + 0 0 0 0 0 0 + 0.1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0 0 0.01 0 0 0 + + + 0.02 0.02 0.02 + + + + + + + motor + base_link + + 0 0 1 + + -0.055 + 0.001 + 10.0 + 10.0 + + + 0 + 0 + 0 + 0 + + + + + + 0 0 0.04 0 0 0 + + 0 0 0.035 0 0 0 + 0.1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + -0.03 0 0.01 0 -1.2 0 + + + 0.02 0.02 0.07 + + + + + + + left_hinge + motor + + 0 1 0 + + -20.0 + 20.0 + 10 + 10 + + + 0 + 0 + 0 + 0 + + 0 + + + + + 0 0 0.04 0 0 0 + + 0 0 0.035 0 0 0 + 0.1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0.03 0 0.01 0 1.2 0 + + + 0.02 0.02 0.07 + + + + + + + right_hinge + motor + + 0 1 0 + + -20.0 + 20.0 + 10 + 10 + + + 0 + 0 + 0 + 0 + + 0 + + + + + -0.055 0 0.06 0 -0 0 + + 0 0 0.0115 0 -0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 -0.06 0 0 0 + + + 0.001 0.001 0.001 + meshes/GUIDE_WSG50_110.stl + + + + + 0 0 -0.037 0 0 0 + + + 0.001 0.001 0.001 + meshes/WSG-FMF.stl + + + + + + + + gripper_left + base_link + + 1 0 0 + + -0.01 + 0.04 + 1 + 1 + + + 0 + 0 + 0 + 0 + + + + + + 0.055 0 0.06 0 0 0 + + 0 0 0.0115 0 -0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + 0 0 -0.06 0 0 3.14159 + + + 0.001 0.001 0.001 + meshes/GUIDE_WSG50_110.stl + + + + + 0 0 -0.037 0 0 3.14159 + + + 0.001 0.001 0.001 + meshes/WSG-FMF.stl + + + + + + + gripper_right + base_link + + 1 0 0 + + -0.04 + 0.01 + 1 + 1 + + + 0 + 0 + 0 + 0 + + + + + + + \ No newline at end of file diff --git a/data/gripper/wsg50_one_motor_gripper_right_finger.urdf b/data/gripper/wsg50_one_motor_gripper_right_finger.urdf new file mode 100644 index 000000000..c6257e399 --- /dev/null +++ b/data/gripper/wsg50_one_motor_gripper_right_finger.urdf @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index 37e6c06a0..831255ef2 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -346,7 +346,7 @@ public: if (1) { b3RobotSimLoadFileArgs args(""); - args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf"; + args.m_fileName = "gripper/wsg50_one_motor_gripper_no_finger.sdf"; args.m_fileType = B3_SDF_FILE; args.m_useMultiBody = true; b3RobotSimLoadFileResults results; @@ -365,7 +365,7 @@ public: b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName); } - for (int i=0;i<8;i++) + for (int i=0;i<6;i++) { b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY); controlArgs.m_maxTorqueValue = 0.0; @@ -374,7 +374,27 @@ public: } } - + { + b3RobotSimLoadFileArgs args(""); + args.m_fileName = "gripper/wsg50_one_motor_gripper_left_finger.urdf"; + args.m_startPosition.setValue(-0.05,0,0.27); + args.m_startOrientation.setEulerZYX(0,0,3.14); + args.m_forceOverrideFixedBase = false; + args.m_useMultiBody = false; + b3RobotSimLoadFileResults results; + m_robotSim.loadFile(args,results); + + } + { + b3RobotSimLoadFileArgs args(""); + args.m_fileName = "gripper/wsg50_one_motor_gripper_right_finger.urdf"; + args.m_startPosition.setValue(0.05,0,0.27); + args.m_startOrientation.setEulerZYX(0,0,3.14); + args.m_forceOverrideFixedBase = false; + args.m_useMultiBody = false; + b3RobotSimLoadFileResults results; + m_robotSim.loadFile(args,results); + } if (1) { b3RobotSimLoadFileArgs args(""); @@ -391,16 +411,16 @@ public: m_robotSim.loadBunny(); b3JointInfo revoluteJoint1; - revoluteJoint1.m_parentFrame[0] = -0.055; + revoluteJoint1.m_parentFrame[0] = -0.007; revoluteJoint1.m_parentFrame[1] = 0; - revoluteJoint1.m_parentFrame[2] = 0.02; + revoluteJoint1.m_parentFrame[2] = 0.0735; revoluteJoint1.m_parentFrame[3] = 0; revoluteJoint1.m_parentFrame[4] = 0; revoluteJoint1.m_parentFrame[5] = 0; revoluteJoint1.m_parentFrame[6] = 1.0; revoluteJoint1.m_childFrame[0] = 0; revoluteJoint1.m_childFrame[1] = 0; - revoluteJoint1.m_childFrame[2] = 0; + revoluteJoint1.m_childFrame[2] = -0.05; revoluteJoint1.m_childFrame[3] = 0; revoluteJoint1.m_childFrame[4] = 0; revoluteJoint1.m_childFrame[5] = 0; @@ -410,16 +430,16 @@ public: revoluteJoint1.m_jointAxis[2] = 0.0; revoluteJoint1.m_jointType = ePoint2PointType; b3JointInfo revoluteJoint2; - revoluteJoint2.m_parentFrame[0] = 0.055; + revoluteJoint2.m_parentFrame[0] = 0.007; revoluteJoint2.m_parentFrame[1] = 0; - revoluteJoint2.m_parentFrame[2] = 0.02; + revoluteJoint2.m_parentFrame[2] = 0.0735; revoluteJoint2.m_parentFrame[3] = 0; revoluteJoint2.m_parentFrame[4] = 0; revoluteJoint2.m_parentFrame[5] = 0; revoluteJoint2.m_parentFrame[6] = 1.0; revoluteJoint2.m_childFrame[0] = 0; revoluteJoint2.m_childFrame[1] = 0; - revoluteJoint2.m_childFrame[2] = 0; + revoluteJoint2.m_childFrame[2] = -0.05; revoluteJoint2.m_childFrame[3] = 0; revoluteJoint2.m_childFrame[4] = 0; revoluteJoint2.m_childFrame[5] = 0; @@ -428,8 +448,128 @@ public: revoluteJoint2.m_jointAxis[1] = 0.0; revoluteJoint2.m_jointAxis[2] = 0.0; revoluteJoint2.m_jointType = ePoint2PointType; - m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint1); - m_robotSim.createJoint(0, 3, 0, 6, &revoluteJoint2); + b3JointInfo revoluteJoint3; + revoluteJoint3.m_parentFrame[0] = -0.207; + revoluteJoint3.m_parentFrame[1] = 0; + revoluteJoint3.m_parentFrame[2] = 0.0735; + revoluteJoint3.m_parentFrame[3] = 0; + revoluteJoint3.m_parentFrame[4] = 0; + revoluteJoint3.m_parentFrame[5] = 0; + revoluteJoint3.m_parentFrame[6] = 1.0; + revoluteJoint3.m_childFrame[0] = -0.2; + revoluteJoint3.m_childFrame[1] = 0; + revoluteJoint3.m_childFrame[2] = -0.05; + revoluteJoint3.m_childFrame[3] = 0; + revoluteJoint3.m_childFrame[4] = 0; + revoluteJoint3.m_childFrame[5] = 0; + revoluteJoint3.m_childFrame[6] = 1.0; + revoluteJoint3.m_jointAxis[0] = 1.0; + revoluteJoint3.m_jointAxis[1] = 0.0; + revoluteJoint3.m_jointAxis[2] = 0.0; + revoluteJoint3.m_jointType = ePoint2PointType; + b3JointInfo revoluteJoint4; + revoluteJoint4.m_parentFrame[0] = 0.207; + revoluteJoint4.m_parentFrame[1] = 0; + revoluteJoint4.m_parentFrame[2] = 0.0735; + revoluteJoint4.m_parentFrame[3] = 0; + revoluteJoint4.m_parentFrame[4] = 0; + revoluteJoint4.m_parentFrame[5] = 0; + revoluteJoint4.m_parentFrame[6] = 1.0; + revoluteJoint4.m_childFrame[0] = 0.2; + revoluteJoint4.m_childFrame[1] = 0; + revoluteJoint4.m_childFrame[2] = -0.05; + revoluteJoint4.m_childFrame[3] = 0; + revoluteJoint4.m_childFrame[4] = 0; + revoluteJoint4.m_childFrame[5] = 0; + revoluteJoint4.m_childFrame[6] = 1.0; + revoluteJoint4.m_jointAxis[0] = 1.0; + revoluteJoint4.m_jointAxis[1] = 0.0; + revoluteJoint4.m_jointAxis[2] = 0.0; + revoluteJoint4.m_jointType = ePoint2PointType; + b3JointInfo revoluteJoint5; + revoluteJoint5.m_parentFrame[0] = -0.007; + revoluteJoint5.m_parentFrame[1] = 0; + revoluteJoint5.m_parentFrame[2] = 0.2735; + revoluteJoint5.m_parentFrame[3] = 0; + revoluteJoint5.m_parentFrame[4] = 0; + revoluteJoint5.m_parentFrame[5] = 0; + revoluteJoint5.m_parentFrame[6] = 1.0; + revoluteJoint5.m_childFrame[0] = 0; + revoluteJoint5.m_childFrame[1] = 0; + revoluteJoint5.m_childFrame[2] = 0.15; + revoluteJoint5.m_childFrame[3] = 0; + revoluteJoint5.m_childFrame[4] = 0; + revoluteJoint5.m_childFrame[5] = 0; + revoluteJoint5.m_childFrame[6] = 1.0; + revoluteJoint5.m_jointAxis[0] = 1.0; + revoluteJoint5.m_jointAxis[1] = 0.0; + revoluteJoint5.m_jointAxis[2] = 0.0; + revoluteJoint5.m_jointType = ePoint2PointType; + b3JointInfo revoluteJoint6; + revoluteJoint6.m_parentFrame[0] = 0.007; + revoluteJoint6.m_parentFrame[1] = 0; + revoluteJoint6.m_parentFrame[2] = 0.2735; + revoluteJoint6.m_parentFrame[3] = 0; + revoluteJoint6.m_parentFrame[4] = 0; + revoluteJoint6.m_parentFrame[5] = 0; + revoluteJoint6.m_parentFrame[6] = 1.0; + revoluteJoint6.m_childFrame[0] = 0; + revoluteJoint6.m_childFrame[1] = 0; + revoluteJoint6.m_childFrame[2] = 0.15; + revoluteJoint6.m_childFrame[3] = 0; + revoluteJoint6.m_childFrame[4] = 0; + revoluteJoint6.m_childFrame[5] = 0; + revoluteJoint6.m_childFrame[6] = 1.0; + revoluteJoint6.m_jointAxis[0] = 1.0; + revoluteJoint6.m_jointAxis[1] = 0.0; + revoluteJoint6.m_jointAxis[2] = 0.0; + revoluteJoint6.m_jointType = ePoint2PointType; + b3JointInfo revoluteJoint7; + revoluteJoint7.m_parentFrame[0] = -0.055; + revoluteJoint7.m_parentFrame[1] = 0; + revoluteJoint7.m_parentFrame[2] = 0.02; + revoluteJoint7.m_parentFrame[3] = 0; + revoluteJoint7.m_parentFrame[4] = 0; + revoluteJoint7.m_parentFrame[5] = 0; + revoluteJoint7.m_parentFrame[6] = 1.0; + revoluteJoint7.m_childFrame[0] = 0; + revoluteJoint7.m_childFrame[1] = 0; + revoluteJoint7.m_childFrame[2] = 0; + revoluteJoint7.m_childFrame[3] = 0; + revoluteJoint7.m_childFrame[4] = 0; + revoluteJoint7.m_childFrame[5] = 0; + revoluteJoint7.m_childFrame[6] = 1.0; + revoluteJoint7.m_jointAxis[0] = 1.0; + revoluteJoint7.m_jointAxis[1] = 0.0; + revoluteJoint7.m_jointAxis[2] = 0.0; + revoluteJoint7.m_jointType = ePoint2PointType; + b3JointInfo revoluteJoint8; + revoluteJoint8.m_parentFrame[0] = 0.055; + revoluteJoint8.m_parentFrame[1] = 0; + revoluteJoint8.m_parentFrame[2] = 0.02; + revoluteJoint8.m_parentFrame[3] = 0; + revoluteJoint8.m_parentFrame[4] = 0; + revoluteJoint8.m_parentFrame[5] = 0; + revoluteJoint8.m_parentFrame[6] = 1.0; + revoluteJoint8.m_childFrame[0] = 0; + revoluteJoint8.m_childFrame[1] = 0; + revoluteJoint8.m_childFrame[2] = 0; + revoluteJoint8.m_childFrame[3] = 0; + revoluteJoint8.m_childFrame[4] = 0; + revoluteJoint8.m_childFrame[5] = 0; + revoluteJoint8.m_childFrame[6] = 1.0; + revoluteJoint8.m_jointAxis[0] = 1.0; + revoluteJoint8.m_jointAxis[1] = 0.0; + revoluteJoint8.m_jointAxis[2] = 0.0; + revoluteJoint8.m_jointType = ePoint2PointType; + m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint1); + m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint2); + m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint3); + m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint4); + m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint5); + m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint6); + m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint7); + m_robotSim.createJoint(0, 3, 0, 5, &revoluteJoint8); } } virtual void exitPhysics() @@ -479,7 +619,7 @@ public: int fingerJointIndices[2]={0,1}; double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity }; - double maxTorqueValues[2]={50.0,50.0}; + double maxTorqueValues[2]={50.0,10.0}; for (int i=0;i<2;i++) { b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 86d3e2ac5..b8962bb62 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1643,14 +1643,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm pm->m_kLST = 1.0; pm->m_flags -= btSoftBody::fMaterial::DebugDraw; psb->generateBendingConstraints(2,pm); - psb->m_cfg.piterations = 2; + psb->m_cfg.piterations = 15; psb->m_cfg.kDF = 0.5; psb->randomizeConstraints(); psb->rotate(btQuaternion(0.70711,0,0,0.70711)); - psb->translate(btVector3(0,0,3.0)); + psb->translate(btVector3(0,0,1.0)); psb->scale(btVector3(0.1,0.1,0.1)); - psb->setTotalMass(1,true); - psb->getCollisionShape()->setMargin(0.01); + psb->setTotalMass(0.1,true); + psb->getCollisionShape()->setMargin(0.02); m_data->m_dynamicsWorld->addSoftBody(psb); #endif @@ -3772,4 +3772,4 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() } } -} \ No newline at end of file +} From 3c37db0804d95d560ffcf335249241fa61ebda60 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 1 Nov 2016 16:45:10 -0700 Subject: [PATCH 004/102] Add API to set bunny properties. Add example to show coupling between softbody and multibody. --- examples/ExampleBrowser/ExampleEntries.cpp | 1 + .../RoboticsLearning/GripperGraspExample.cpp | 42 ++++++++++++++++++- .../RoboticsLearning/GripperGraspExample.h | 1 + examples/RoboticsLearning/b3RobotSimAPI.cpp | 7 +++- examples/RoboticsLearning/b3RobotSimAPI.h | 2 +- examples/SharedMemory/PhysicsClientC_API.cpp | 29 ++++++++++++- examples/SharedMemory/PhysicsClientC_API.h | 3 ++ .../PhysicsServerCommandProcessor.cpp | 21 ++++++++-- examples/SharedMemory/SharedMemoryCommands.h | 15 +++++++ src/BulletSoftBody/btSoftBody.cpp | 2 + 10 files changed, 115 insertions(+), 8 deletions(-) diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp index 87382fbc8..1b58431d2 100644 --- a/examples/ExampleBrowser/ExampleEntries.cpp +++ b/examples/ExampleBrowser/ExampleEntries.cpp @@ -269,6 +269,7 @@ static ExampleEntry gDefaultExamples[]= ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP), ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP), ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY), + ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING), #ifdef ENABLE_LUA diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index 831255ef2..08cc463ca 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -408,7 +408,7 @@ public: } m_robotSim.setGravity(b3MakeVector3(0,0,-10)); - m_robotSim.loadBunny(); + m_robotSim.loadBunny(0.1,0.1,0.02); b3JointInfo revoluteJoint1; revoluteJoint1.m_parentFrame[0] = -0.007; @@ -571,6 +571,46 @@ public: m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint7); m_robotSim.createJoint(0, 3, 0, 5, &revoluteJoint8); } + + if ((m_options & eSOFTBODY_MULTIBODY_COUPLING)!=0) + { + { + b3RobotSimLoadFileArgs args(""); + args.m_fileName = "kuka_iiwa/model_free_base.urdf"; + args.m_startPosition.setValue(0,1.0,2.0); + args.m_startOrientation.setEulerZYX(0,0,1.57); + args.m_forceOverrideFixedBase = false; + args.m_useMultiBody = true; + b3RobotSimLoadFileResults results; + m_robotSim.loadFile(args,results); + + int kukaId = results.m_uniqueObjectIds[0]; + int numJoints = m_robotSim.getNumJoints(kukaId); + b3Printf("numJoints = %d",numJoints); + + for (int i=0;im_physicsClient); + b3LoadBunnySetScale(command, scale); + b3LoadBunnySetMass(command, mass); + b3LoadBunnySetCollisionMargin(command, collisionMargin); b3SubmitClientCommand(m_data->m_physicsClient, command); -} \ No newline at end of file +} diff --git a/examples/RoboticsLearning/b3RobotSimAPI.h b/examples/RoboticsLearning/b3RobotSimAPI.h index 882817384..886aafcad 100644 --- a/examples/RoboticsLearning/b3RobotSimAPI.h +++ b/examples/RoboticsLearning/b3RobotSimAPI.h @@ -165,7 +165,7 @@ public: void getLinkState(int bodyUniqueId, int linkIndex, double* worldPosition, double* worldOrientation); - void loadBunny(); + void loadBunny(double scale, double mass, double collisionMargin); }; #endif //B3_ROBOT_SIM_API_H diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 71ac91832..478b2eaa1 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -89,6 +89,33 @@ b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physCli return (b3SharedMemoryCommandHandle) command; } +int b3LoadBunnySetScale(b3SharedMemoryCommandHandle commandHandle, double scale) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command->m_type == CMD_LOAD_BUNNY); + command->m_loadBunnyArguments.m_scale = scale; + command->m_updateFlags |= LOAD_BUNNY_UPDATE_SCALE; + return 0; +} + +int b3LoadBunnySetMass(b3SharedMemoryCommandHandle commandHandle, double mass) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command->m_type == CMD_LOAD_BUNNY); + command->m_loadBunnyArguments.m_mass = mass; + command->m_updateFlags |= LOAD_BUNNY_UPDATE_MASS; + return 0; +} + +int b3LoadBunnySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command->m_type == CMD_LOAD_BUNNY); + command->m_loadBunnyArguments.m_collisionMargin = collisionMargin; + command->m_updateFlags |= LOAD_BUNNY_UPDATE_COLLISION_MARGIN; + return 0; +} + int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; @@ -1580,4 +1607,4 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status } return true; -} \ No newline at end of file +} diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 9fa0cbbfb..49876e983 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -229,6 +229,9 @@ void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUni void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags); b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient); +int b3LoadBunnySetScale(b3SharedMemoryCommandHandle commandHandle, double scale); +int b3LoadBunnySetMass(b3SharedMemoryCommandHandle commandHandle, double mass); +int b3LoadBunnySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin); #ifdef __cplusplus } diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index b8962bb62..bd497b494 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1629,6 +1629,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_LOAD_BUNNY: { #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD + double scale = 0.1; + double mass = 0.1; + double collisionMargin = 0.02; + if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_SCALE) + { + scale = clientCmd.m_loadBunnyArguments.m_scale; + } + if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_MASS) + { + mass = clientCmd.m_loadBunnyArguments.m_mass; + } + if (clientCmd.m_updateFlags & LOAD_BUNNY_UPDATE_COLLISION_MARGIN) + { + collisionMargin = clientCmd.m_loadBunnyArguments.m_collisionMargin; + } m_data->m_softBodyWorldInfo.air_density = (btScalar)1.2; m_data->m_softBodyWorldInfo.water_density = 0; m_data->m_softBodyWorldInfo.water_offset = 0; @@ -1648,9 +1663,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm psb->randomizeConstraints(); psb->rotate(btQuaternion(0.70711,0,0,0.70711)); psb->translate(btVector3(0,0,1.0)); - psb->scale(btVector3(0.1,0.1,0.1)); - psb->setTotalMass(0.1,true); - psb->getCollisionShape()->setMargin(0.02); + psb->scale(btVector3(scale,scale,scale)); + psb->setTotalMass(mass,true); + psb->getCollisionShape()->setMargin(collisionMargin); m_data->m_dynamicsWorld->addSoftBody(psb); #endif diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 8a34189be..e37dff0e0 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -255,6 +255,13 @@ enum EnumSimParamUpdateFlags SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64 }; +enum EnumLoadBunnyUpdateFlags +{ + LOAD_BUNNY_UPDATE_SCALE=1, + LOAD_BUNNY_UPDATE_MASS=2, + LOAD_BUNNY_UPDATE_COLLISION_MARGIN=4 +}; + enum EnumSimParamInternalSimFlags { SIM_PARAM_INTERNAL_CREATE_ROBOT_ASSETS=1, @@ -274,6 +281,13 @@ struct SendPhysicsSimulationParameters double m_defaultContactERP; }; +struct LoadBunnyArgs +{ + double m_scale; + double m_mass; + double m_collisionMargin; +}; + struct RequestActualStateArgs { int m_bodyUniqueId; @@ -501,6 +515,7 @@ struct SharedMemoryCommand struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments; struct LoadTextureArgs m_loadTextureArguments; struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments; + struct LoadBunnyArgs m_loadBunnyArguments; }; }; diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 51f4b33d0..dea35c34e 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -18,6 +18,8 @@ subject to the following restrictions: #include "BulletSoftBody/btSoftBodySolvers.h" #include "btSoftBodyData.h" #include "LinearMath/btSerializer.h" +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "BulletDynamics/Featherstone/btMultiBodyConstraint.h" // From 295c1b7c883159e85e339af3586744da4c73da61 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Wed, 2 Nov 2016 12:49:51 -0700 Subject: [PATCH 005/102] Modify the setup for grasping bunny example. --- examples/RoboticsLearning/GripperGraspExample.cpp | 6 +++--- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index 08cc463ca..33b24eda7 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -377,7 +377,7 @@ public: { b3RobotSimLoadFileArgs args(""); args.m_fileName = "gripper/wsg50_one_motor_gripper_left_finger.urdf"; - args.m_startPosition.setValue(-0.05,0,0.27); + args.m_startPosition.setValue(-0.1,0,0.5); args.m_startOrientation.setEulerZYX(0,0,3.14); args.m_forceOverrideFixedBase = false; args.m_useMultiBody = false; @@ -388,7 +388,7 @@ public: { b3RobotSimLoadFileArgs args(""); args.m_fileName = "gripper/wsg50_one_motor_gripper_right_finger.urdf"; - args.m_startPosition.setValue(0.05,0,0.27); + args.m_startPosition.setValue(0.1,0,0.5); args.m_startOrientation.setEulerZYX(0,0,3.14); args.m_forceOverrideFixedBase = false; args.m_useMultiBody = false; @@ -399,7 +399,7 @@ public: { b3RobotSimLoadFileArgs args(""); args.m_fileName = "plane.urdf"; - args.m_startPosition.setValue(0,0,0); + args.m_startPosition.setValue(0,0,-0.2); args.m_startOrientation.setEulerZYX(0,0,0); args.m_forceOverrideFixedBase = true; args.m_useMultiBody = true; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index bd497b494..0191b5f69 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1658,7 +1658,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm pm->m_kLST = 1.0; pm->m_flags -= btSoftBody::fMaterial::DebugDraw; psb->generateBendingConstraints(2,pm); - psb->m_cfg.piterations = 15; + psb->m_cfg.piterations = 20; psb->m_cfg.kDF = 0.5; psb->randomizeConstraints(); psb->rotate(btQuaternion(0.70711,0,0,0.70711)); From ab6ce65abebd8934a7ebdaed77c155386159dbad Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Wed, 2 Nov 2016 13:21:01 -0700 Subject: [PATCH 006/102] Add contact handling between multibody and softbody. --- .../RoboticsLearning/GripperGraspExample.cpp | 2 +- src/BulletSoftBody/btSoftBody.cpp | 53 +++++++++++++++++-- 2 files changed, 49 insertions(+), 6 deletions(-) diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index 33b24eda7..d0b363465 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -604,7 +604,7 @@ public: args.m_startPosition.setValue(0,0,0); args.m_startOrientation.setEulerZYX(0,0,0); args.m_forceOverrideFixedBase = true; - args.m_useMultiBody = true; + args.m_useMultiBody = false; b3RobotSimLoadFileResults results; m_robotSim.loadFile(args,results); } diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index dea35c34e..54808f1ef 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3020,6 +3020,7 @@ void btSoftBody::PSolve_Anchors(btSoftBody* psb,btScalar kst,btScalar ti) } } + // void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) { @@ -3031,9 +3032,39 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) const sCti& cti = c.m_cti; if (cti.m_colObj->hasContactResponse()) { - btRigidBody* tmpRigid = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); - const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0); - const btVector3 vb = c.m_node->m_x-c.m_node->m_q; + btVector3 va(0,0,0); + btRigidBody* rigidCol; + btMultiBodyLinkCollider* multibodyLinkCol; + btScalar* deltaV; + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); + va = rigidCol ? rigidCol->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + multibodyLinkCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(cti.m_colObj); + if (multibodyLinkCol) + { + const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; + btMultiBodyJacobianData jacobianData; + jacobianData.m_jacobians.resize(ndof); + jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); + btScalar* jac=&jacobianData.m_jacobians[0]; + + multibodyLinkCol->m_multiBody->fillContactJacobianMultiDof(multibodyLinkCol->m_link, c.m_node->m_x, cti.m_normal, jac, jacobianData.scratch_r, jacobianData.scratch_v, jacobianData.scratch_m); + deltaV = &jacobianData.m_deltaVelocitiesUnitImpulse[0]; + multibodyLinkCol->m_multiBody->calcAccelerationDeltasMultiDof(&jacobianData.m_jacobians[0],deltaV,jacobianData.scratch_r, jacobianData.scratch_v); + + btScalar vel = 0.0; + for (int j = 0; j < ndof ; ++j) { + vel += multibodyLinkCol->m_multiBody->getVelocityVector()[j] * jac[j]; + } + va = cti.m_normal*vel*dt; + } + } + + const btVector3 vb = c.m_node->m_x-c.m_node->m_q; const btVector3 vr = vb-va; const btScalar dn = btDot(vr, cti.m_normal); if(dn<=SIMD_EPSILON) @@ -3043,8 +3074,20 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst ); c.m_node->m_x -= impulse * c.m_c2; - if (tmpRigid) - tmpRigid->applyImpulse(impulse,c.m_c1); + + if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) + { + if (rigidCol) + rigidCol->applyImpulse(impulse,c.m_c1); + } + else if (cti.m_colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK) + { + if (multibodyLinkCol) + { + double multiplier = 0.2; + multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV,-impulse.length()*multiplier); + } + } } } } From 479497997cfe57404d2dfee00cf6c8a90e175e46 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Wed, 2 Nov 2016 14:53:28 -0700 Subject: [PATCH 007/102] Add grasp bunny example with multibody gripper. --- .../RoboticsLearning/GripperGraspExample.cpp | 163 ++---------------- src/BulletSoftBody/btSoftBody.cpp | 2 +- 2 files changed, 11 insertions(+), 154 deletions(-) diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp index d0b363465..71e32924d 100644 --- a/examples/RoboticsLearning/GripperGraspExample.cpp +++ b/examples/RoboticsLearning/GripperGraspExample.cpp @@ -343,10 +343,9 @@ public: slider.m_maxVal=1; m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); } - if (1) { b3RobotSimLoadFileArgs args(""); - args.m_fileName = "gripper/wsg50_one_motor_gripper_no_finger.sdf"; + args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf"; args.m_fileType = B3_SDF_FILE; args.m_useMultiBody = true; b3RobotSimLoadFileResults results; @@ -365,7 +364,7 @@ public: b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName); } - for (int i=0;i<6;i++) + for (int i=0;i<8;i++) { b3JointMotorArgs controlArgs(CONTROL_MODE_VELOCITY); controlArgs.m_maxTorqueValue = 0.0; @@ -374,28 +373,6 @@ public: } } - { - b3RobotSimLoadFileArgs args(""); - args.m_fileName = "gripper/wsg50_one_motor_gripper_left_finger.urdf"; - args.m_startPosition.setValue(-0.1,0,0.5); - args.m_startOrientation.setEulerZYX(0,0,3.14); - args.m_forceOverrideFixedBase = false; - args.m_useMultiBody = false; - b3RobotSimLoadFileResults results; - m_robotSim.loadFile(args,results); - - } - { - b3RobotSimLoadFileArgs args(""); - args.m_fileName = "gripper/wsg50_one_motor_gripper_right_finger.urdf"; - args.m_startPosition.setValue(0.1,0,0.5); - args.m_startOrientation.setEulerZYX(0,0,3.14); - args.m_forceOverrideFixedBase = false; - args.m_useMultiBody = false; - b3RobotSimLoadFileResults results; - m_robotSim.loadFile(args,results); - } - if (1) { b3RobotSimLoadFileArgs args(""); args.m_fileName = "plane.urdf"; @@ -411,16 +388,16 @@ public: m_robotSim.loadBunny(0.1,0.1,0.02); b3JointInfo revoluteJoint1; - revoluteJoint1.m_parentFrame[0] = -0.007; + revoluteJoint1.m_parentFrame[0] = -0.055; revoluteJoint1.m_parentFrame[1] = 0; - revoluteJoint1.m_parentFrame[2] = 0.0735; + revoluteJoint1.m_parentFrame[2] = 0.02; revoluteJoint1.m_parentFrame[3] = 0; revoluteJoint1.m_parentFrame[4] = 0; revoluteJoint1.m_parentFrame[5] = 0; revoluteJoint1.m_parentFrame[6] = 1.0; revoluteJoint1.m_childFrame[0] = 0; revoluteJoint1.m_childFrame[1] = 0; - revoluteJoint1.m_childFrame[2] = -0.05; + revoluteJoint1.m_childFrame[2] = 0; revoluteJoint1.m_childFrame[3] = 0; revoluteJoint1.m_childFrame[4] = 0; revoluteJoint1.m_childFrame[5] = 0; @@ -430,16 +407,16 @@ public: revoluteJoint1.m_jointAxis[2] = 0.0; revoluteJoint1.m_jointType = ePoint2PointType; b3JointInfo revoluteJoint2; - revoluteJoint2.m_parentFrame[0] = 0.007; + revoluteJoint2.m_parentFrame[0] = 0.055; revoluteJoint2.m_parentFrame[1] = 0; - revoluteJoint2.m_parentFrame[2] = 0.0735; + revoluteJoint2.m_parentFrame[2] = 0.02; revoluteJoint2.m_parentFrame[3] = 0; revoluteJoint2.m_parentFrame[4] = 0; revoluteJoint2.m_parentFrame[5] = 0; revoluteJoint2.m_parentFrame[6] = 1.0; revoluteJoint2.m_childFrame[0] = 0; revoluteJoint2.m_childFrame[1] = 0; - revoluteJoint2.m_childFrame[2] = -0.05; + revoluteJoint2.m_childFrame[2] = 0; revoluteJoint2.m_childFrame[3] = 0; revoluteJoint2.m_childFrame[4] = 0; revoluteJoint2.m_childFrame[5] = 0; @@ -448,128 +425,8 @@ public: revoluteJoint2.m_jointAxis[1] = 0.0; revoluteJoint2.m_jointAxis[2] = 0.0; revoluteJoint2.m_jointType = ePoint2PointType; - b3JointInfo revoluteJoint3; - revoluteJoint3.m_parentFrame[0] = -0.207; - revoluteJoint3.m_parentFrame[1] = 0; - revoluteJoint3.m_parentFrame[2] = 0.0735; - revoluteJoint3.m_parentFrame[3] = 0; - revoluteJoint3.m_parentFrame[4] = 0; - revoluteJoint3.m_parentFrame[5] = 0; - revoluteJoint3.m_parentFrame[6] = 1.0; - revoluteJoint3.m_childFrame[0] = -0.2; - revoluteJoint3.m_childFrame[1] = 0; - revoluteJoint3.m_childFrame[2] = -0.05; - revoluteJoint3.m_childFrame[3] = 0; - revoluteJoint3.m_childFrame[4] = 0; - revoluteJoint3.m_childFrame[5] = 0; - revoluteJoint3.m_childFrame[6] = 1.0; - revoluteJoint3.m_jointAxis[0] = 1.0; - revoluteJoint3.m_jointAxis[1] = 0.0; - revoluteJoint3.m_jointAxis[2] = 0.0; - revoluteJoint3.m_jointType = ePoint2PointType; - b3JointInfo revoluteJoint4; - revoluteJoint4.m_parentFrame[0] = 0.207; - revoluteJoint4.m_parentFrame[1] = 0; - revoluteJoint4.m_parentFrame[2] = 0.0735; - revoluteJoint4.m_parentFrame[3] = 0; - revoluteJoint4.m_parentFrame[4] = 0; - revoluteJoint4.m_parentFrame[5] = 0; - revoluteJoint4.m_parentFrame[6] = 1.0; - revoluteJoint4.m_childFrame[0] = 0.2; - revoluteJoint4.m_childFrame[1] = 0; - revoluteJoint4.m_childFrame[2] = -0.05; - revoluteJoint4.m_childFrame[3] = 0; - revoluteJoint4.m_childFrame[4] = 0; - revoluteJoint4.m_childFrame[5] = 0; - revoluteJoint4.m_childFrame[6] = 1.0; - revoluteJoint4.m_jointAxis[0] = 1.0; - revoluteJoint4.m_jointAxis[1] = 0.0; - revoluteJoint4.m_jointAxis[2] = 0.0; - revoluteJoint4.m_jointType = ePoint2PointType; - b3JointInfo revoluteJoint5; - revoluteJoint5.m_parentFrame[0] = -0.007; - revoluteJoint5.m_parentFrame[1] = 0; - revoluteJoint5.m_parentFrame[2] = 0.2735; - revoluteJoint5.m_parentFrame[3] = 0; - revoluteJoint5.m_parentFrame[4] = 0; - revoluteJoint5.m_parentFrame[5] = 0; - revoluteJoint5.m_parentFrame[6] = 1.0; - revoluteJoint5.m_childFrame[0] = 0; - revoluteJoint5.m_childFrame[1] = 0; - revoluteJoint5.m_childFrame[2] = 0.15; - revoluteJoint5.m_childFrame[3] = 0; - revoluteJoint5.m_childFrame[4] = 0; - revoluteJoint5.m_childFrame[5] = 0; - revoluteJoint5.m_childFrame[6] = 1.0; - revoluteJoint5.m_jointAxis[0] = 1.0; - revoluteJoint5.m_jointAxis[1] = 0.0; - revoluteJoint5.m_jointAxis[2] = 0.0; - revoluteJoint5.m_jointType = ePoint2PointType; - b3JointInfo revoluteJoint6; - revoluteJoint6.m_parentFrame[0] = 0.007; - revoluteJoint6.m_parentFrame[1] = 0; - revoluteJoint6.m_parentFrame[2] = 0.2735; - revoluteJoint6.m_parentFrame[3] = 0; - revoluteJoint6.m_parentFrame[4] = 0; - revoluteJoint6.m_parentFrame[5] = 0; - revoluteJoint6.m_parentFrame[6] = 1.0; - revoluteJoint6.m_childFrame[0] = 0; - revoluteJoint6.m_childFrame[1] = 0; - revoluteJoint6.m_childFrame[2] = 0.15; - revoluteJoint6.m_childFrame[3] = 0; - revoluteJoint6.m_childFrame[4] = 0; - revoluteJoint6.m_childFrame[5] = 0; - revoluteJoint6.m_childFrame[6] = 1.0; - revoluteJoint6.m_jointAxis[0] = 1.0; - revoluteJoint6.m_jointAxis[1] = 0.0; - revoluteJoint6.m_jointAxis[2] = 0.0; - revoluteJoint6.m_jointType = ePoint2PointType; - b3JointInfo revoluteJoint7; - revoluteJoint7.m_parentFrame[0] = -0.055; - revoluteJoint7.m_parentFrame[1] = 0; - revoluteJoint7.m_parentFrame[2] = 0.02; - revoluteJoint7.m_parentFrame[3] = 0; - revoluteJoint7.m_parentFrame[4] = 0; - revoluteJoint7.m_parentFrame[5] = 0; - revoluteJoint7.m_parentFrame[6] = 1.0; - revoluteJoint7.m_childFrame[0] = 0; - revoluteJoint7.m_childFrame[1] = 0; - revoluteJoint7.m_childFrame[2] = 0; - revoluteJoint7.m_childFrame[3] = 0; - revoluteJoint7.m_childFrame[4] = 0; - revoluteJoint7.m_childFrame[5] = 0; - revoluteJoint7.m_childFrame[6] = 1.0; - revoluteJoint7.m_jointAxis[0] = 1.0; - revoluteJoint7.m_jointAxis[1] = 0.0; - revoluteJoint7.m_jointAxis[2] = 0.0; - revoluteJoint7.m_jointType = ePoint2PointType; - b3JointInfo revoluteJoint8; - revoluteJoint8.m_parentFrame[0] = 0.055; - revoluteJoint8.m_parentFrame[1] = 0; - revoluteJoint8.m_parentFrame[2] = 0.02; - revoluteJoint8.m_parentFrame[3] = 0; - revoluteJoint8.m_parentFrame[4] = 0; - revoluteJoint8.m_parentFrame[5] = 0; - revoluteJoint8.m_parentFrame[6] = 1.0; - revoluteJoint8.m_childFrame[0] = 0; - revoluteJoint8.m_childFrame[1] = 0; - revoluteJoint8.m_childFrame[2] = 0; - revoluteJoint8.m_childFrame[3] = 0; - revoluteJoint8.m_childFrame[4] = 0; - revoluteJoint8.m_childFrame[5] = 0; - revoluteJoint8.m_childFrame[6] = 1.0; - revoluteJoint8.m_jointAxis[0] = 1.0; - revoluteJoint8.m_jointAxis[1] = 0.0; - revoluteJoint8.m_jointAxis[2] = 0.0; - revoluteJoint8.m_jointType = ePoint2PointType; - m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint1); - m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint2); - m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint3); - m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint4); - m_robotSim.createJoint(0, 4, 1, 0, &revoluteJoint5); - m_robotSim.createJoint(0, 5, 2, 0, &revoluteJoint6); - m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint7); - m_robotSim.createJoint(0, 3, 0, 5, &revoluteJoint8); + m_robotSim.createJoint(0, 2, 0, 4, &revoluteJoint1); + m_robotSim.createJoint(0, 3, 0, 6, &revoluteJoint2); } if ((m_options & eSOFTBODY_MULTIBODY_COUPLING)!=0) diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index 54808f1ef..b45540b53 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3084,7 +3084,7 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) { if (multibodyLinkCol) { - double multiplier = 0.2; + double multiplier = 0.5; multibodyLinkCol->m_multiBody->applyDeltaVeeMultiDof(deltaV,-impulse.length()*multiplier); } } From f74a35bacb5762604d0c9c78a2149a8b47a09f3a Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Thu, 3 Nov 2016 07:11:31 -0700 Subject: [PATCH 008/102] serialization structures update, needed to be done since recent addition of src/BulletCollision/CollisionDispatch/btCollisionObject.h recent (since august 26, 2016) serialization dumps my be corrupt. --- src/LinearMath/btSerializer.cpp | 1993 ++++++++++++++++--------------- 1 file changed, 999 insertions(+), 994 deletions(-) diff --git a/src/LinearMath/btSerializer.cpp b/src/LinearMath/btSerializer.cpp index 9838e6c09..2b5740b40 100644 --- a/src/LinearMath/btSerializer.cpp +++ b/src/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(126),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-128),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -90,508 +90,511 @@ char(97),char(110),char(105),char(115),char(111),char(116),char(114),char(111),c char(109),char(95),char(99),char(111),char(110),char(116),char(97),char(99),char(116),char(80),char(114),char(111),char(99),char(101),char(115),char(115),char(105),char(110),char(103),char(84), char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(100),char(101),char(97),char(99),char(116),char(105),char(118),char(97),char(116), char(105),char(111),char(110),char(84),char(105),char(109),char(101),char(0),char(109),char(95),char(102),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109), -char(95),char(114),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(114), -char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(104),char(105),char(116),char(70),char(114),char(97),char(99), -char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(99),char(100),char(83),char(119),char(101),char(112),char(116),char(83),char(112),char(104),char(101),char(114), -char(101),char(82),char(97),char(100),char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(99),char(100),char(77),char(111),char(116),char(105),char(111),char(110),char(84), -char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(104),char(97),char(115),char(65),char(110),char(105),char(115),char(111),char(116), -char(114),char(111),char(112),char(105),char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(111),char(108),char(108), -char(105),char(115),char(105),char(111),char(110),char(70),char(108),char(97),char(103),char(115),char(0),char(109),char(95),char(105),char(115),char(108),char(97),char(110),char(100),char(84), 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+char(7),char(0),char(18),char(1),char(7),char(0),char(127),char(0),char(7),char(0),char(19),char(1),char(7),char(0),char(20),char(1),char(7),char(0),char(21),char(1), +char(7),char(0),char(22),char(1),char(7),char(0),char(23),char(1),char(7),char(0),char(24),char(1),char(7),char(0),char(25),char(1),char(7),char(0),char(26),char(1), +char(7),char(0),char(27),char(1),char(7),char(0),char(28),char(1),char(7),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1), +char(7),char(0),char(32),char(1),char(7),char(0),char(33),char(1),char(7),char(0),char(34),char(1),char(7),char(0),char(35),char(1),char(7),char(0),char(36),char(1), +char(4),char(0),char(37),char(1),char(4),char(0),char(38),char(1),char(4),char(0),char(39),char(1),char(4),char(0),char(40),char(1),char(4),char(0),char(120),char(0), +char(87),char(0),char(12),char(0),char(17),char(0),char(41),char(1),char(17),char(0),char(42),char(1),char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1), +char(13),char(0),char(45),char(1),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1),char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1), +char(4),char(0),char(50),char(1),char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0),char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1), +char(17),char(0),char(52),char(1),char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1), +char(13),char(0),char(56),char(1),char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1), +char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1), +char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1), +char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1), +char(4),char(0),char(76),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1), +char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1), +char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0), +char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1), +char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1), +char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1), +char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(86),char(0),char(103),char(1),char(91),char(0),char(20),char(0), +char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1), +char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1), +char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1), +char(8),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(49),char(0),char(121),char(1),char(0),char(0),char(122),char(1), +char(92),char(0),char(20),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(13),char(0),char(107),char(1), +char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),char(4),char(0),char(111),char(1), +char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(4),char(0),char(113),char(1), +char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(50),char(0),char(121),char(1), +char(0),char(0),char(122),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(123),char(1),char(14),char(0),char(124),char(1),char(8),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(127),char(1),char(0),char(0),char(122),char(1),char(4),char(0),char(97),char(1), +char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(127),char(1), +char(19),char(0),char(123),char(1),char(13),char(0),char(124),char(1),char(7),char(0),char(125),char(1),char(4),char(0),char(97),char(1),}; int sBulletDNAlen= sizeof(sBulletDNAstr); + char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(126),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(-128),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -682,503 +685,505 @@ char(97),char(110),char(105),char(115),char(111),char(116),char(114),char(111),c char(109),char(95),char(99),char(111),char(110),char(116),char(97),char(99),char(116),char(80),char(114),char(111),char(99),char(101),char(115),char(115),char(105),char(110),char(103),char(84), char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(100),char(101),char(97),char(99),char(116),char(105),char(118),char(97),char(116), char(105),char(111),char(110),char(84),char(105),char(109),char(101),char(0),char(109),char(95),char(102),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109), -char(95),char(114),char(111),char(108),char(108),char(105),char(110),char(103),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(114), -char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(104),char(105),char(116),char(70),char(114),char(97),char(99), -char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(99),char(100),char(83),char(119),char(101),char(112),char(116),char(83),char(112),char(104),char(101),char(114), -char(101),char(82),char(97),char(100),char(105),char(117),char(115),char(0),char(109),char(95),char(99),char(99),char(100),char(77),char(111),char(116),char(105),char(111),char(110),char(84), -char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(104),char(97),char(115),char(65),char(110),char(105),char(115),char(111),char(116), -char(114),char(111),char(112),char(105),char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(99),char(111),char(108),char(108), -char(105),char(115),char(105),char(111),char(110),char(70),char(108),char(97),char(103),char(115),char(0),char(109),char(95),char(105),char(115),char(108),char(97),char(110),char(100),char(84), -char(97),char(103),char(49),char(0),char(109),char(95),char(99),char(111),char(109),char(112),char(97),char(110),char(105),char(111),char(110),char(73),char(100),char(0),char(109),char(95), -char(97),char(99),char(116),char(105),char(118),char(97),char(116),char(105),char(111),char(110),char(83),char(116),char(97),char(116),char(101),char(49),char(0),char(109),char(95),char(105), -char(110),char(116),char(101),char(114),char(110),char(97),char(108),char(84),char(121),char(112),char(101),char(0),char(109),char(95),char(99),char(104),char(101),char(99),char(107),char(67), -char(111),char(108),char(108),char(105),char(100),char(101),char(87),char(105),char(116),char(104),char(0),char(109),char(95),char(116),char(97),char(117),char(0),char(109),char(95),char(100), -char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(116),char(105),char(109),char(101),char(83),char(116),char(101),char(112),char(0),char(109),char(95), -char(109),char(97),char(120),char(69),char(114),char(114),char(111),char(114),char(82),char(101),char(100),char(117),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95), -char(115),char(111),char(114),char(0),char(109),char(95),char(101),char(114),char(112),char(0),char(109),char(95),char(101),char(114),char(112),char(50),char(0),char(109),char(95),char(103), -char(108),char(111),char(98),char(97),char(108),char(67),char(102),char(109),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117), -char(108),char(115),char(101),char(80),char(101),char(110),char(101),char(116),char(114),char(97),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104), -char(111),char(108),char(100),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(84),char(117), -char(114),char(110),char(69),char(114),char(112),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(108),char(111),char(112),char(0),char(109), -char(95),char(119),char(97),char(114),char(109),char(115),char(116),char(97),char(114),char(116),char(105),char(110),char(103),char(70),char(97),char(99),char(116),char(111),char(114),char(0), -char(109),char(95),char(109),char(97),char(120),char(71),char(121),char(114),char(111),char(115),char(99),char(111),char(112),char(105),char(99),char(70),char(111),char(114),char(99),char(101), -char(0),char(109),char(95),char(115),char(105),char(110),char(103),char(108),char(101),char(65),char(120),char(105),char(115),char(82),char(111),char(108),char(108),char(105),char(110),char(103), -char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95), -char(110),char(117),char(109),char(73),char(116),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(115),char(0),char(109),char(95),char(115),char(111),char(108),char(118), -char(101),char(114),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),char(110),char(103),char(67),char(111),char(110),char(116), -char(97),char(99),char(116),char(82),char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104), -char(111),char(108),char(100),char(0),char(109),char(95),char(109),char(105),char(110),char(105),char(109),char(117),char(109),char(83),char(111),char(108),char(118),char(101),char(114),char(66), -char(97),char(116),char(99),char(104),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117), -char(108),char(115),char(101),char(0),char(109),char(95),char(115),char(111),char(108),char(118),char(101),char(114),char(73),char(110),char(102),char(111),char(0),char(109),char(95),char(103), -char(114),char(97),char(118),char(105),char(116),char(121),char(0),char(109),char(95),char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98), -char(106),char(101),char(99),char(116),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(105),char(110),char(118),char(73),char(110),char(101),char(114),char(116),char(105), -char(97),char(84),char(101),char(110),char(115),char(111),char(114),char(87),char(111),char(114),char(108),char(100),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97), -char(114),char(86),char(101),char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(86), -char(101),char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(70),char(97),char(99), -char(116),char(111),char(114),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109), -char(95),char(103),char(114),char(97),char(118),char(105),char(116),char(121),char(95),char(97),char(99),char(99),char(101),char(108),char(101),char(114),char(97),char(116),char(105),char(111), -char(110),char(0),char(109),char(95),char(105),char(110),char(118),char(73),char(110),char(101),char(114),char(116),char(105),char(97),char(76),char(111),char(99),char(97),char(108),char(0), -char(109),char(95),char(116),char(111),char(116),char(97),char(108),char(70),char(111),char(114),char(99),char(101),char(0),char(109),char(95),char(116),char(111),char(116),char(97),char(108), -char(84),char(111),char(114),char(113),char(117),char(101),char(0),char(109),char(95),char(105),char(110),char(118),char(101),char(114),char(115),char(101),char(77),char(97),char(115),char(115), -char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(97), 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+char(87),char(0),char(12),char(0),char(17),char(0),char(41),char(1),char(17),char(0),char(42),char(1),char(17),char(0),char(43),char(1),char(13),char(0),char(44),char(1), +char(13),char(0),char(45),char(1),char(7),char(0),char(46),char(1),char(4),char(0),char(47),char(1),char(4),char(0),char(48),char(1),char(4),char(0),char(49),char(1), +char(4),char(0),char(50),char(1),char(7),char(0),char(10),char(1),char(4),char(0),char(53),char(0),char(88),char(0),char(27),char(0),char(19),char(0),char(51),char(1), +char(17),char(0),char(52),char(1),char(17),char(0),char(53),char(1),char(13),char(0),char(44),char(1),char(13),char(0),char(54),char(1),char(13),char(0),char(55),char(1), +char(13),char(0),char(56),char(1),char(13),char(0),char(57),char(1),char(13),char(0),char(58),char(1),char(4),char(0),char(59),char(1),char(7),char(0),char(60),char(1), +char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(63),char(1),char(7),char(0),char(64),char(1),char(7),char(0),char(65),char(1), +char(4),char(0),char(66),char(1),char(4),char(0),char(67),char(1),char(7),char(0),char(68),char(1),char(7),char(0),char(69),char(1),char(7),char(0),char(70),char(1), +char(7),char(0),char(71),char(1),char(7),char(0),char(72),char(1),char(7),char(0),char(73),char(1),char(4),char(0),char(74),char(1),char(4),char(0),char(75),char(1), +char(4),char(0),char(76),char(1),char(89),char(0),char(12),char(0),char(9),char(0),char(77),char(1),char(9),char(0),char(78),char(1),char(13),char(0),char(79),char(1), +char(7),char(0),char(80),char(1),char(7),char(0),char(-125),char(0),char(7),char(0),char(81),char(1),char(4),char(0),char(82),char(1),char(13),char(0),char(83),char(1), +char(4),char(0),char(84),char(1),char(4),char(0),char(85),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(53),char(0),char(90),char(0),char(19),char(0), +char(50),char(0),char(-109),char(0),char(87),char(0),char(87),char(1),char(80),char(0),char(88),char(1),char(81),char(0),char(89),char(1),char(82),char(0),char(90),char(1), +char(83),char(0),char(91),char(1),char(84),char(0),char(92),char(1),char(85),char(0),char(93),char(1),char(88),char(0),char(94),char(1),char(89),char(0),char(95),char(1), +char(4),char(0),char(96),char(1),char(4),char(0),char(62),char(1),char(4),char(0),char(97),char(1),char(4),char(0),char(98),char(1),char(4),char(0),char(99),char(1), +char(4),char(0),char(100),char(1),char(4),char(0),char(101),char(1),char(4),char(0),char(102),char(1),char(86),char(0),char(103),char(1),char(91),char(0),char(20),char(0), +char(16),char(0),char(104),char(1),char(14),char(0),char(105),char(1),char(14),char(0),char(106),char(1),char(14),char(0),char(107),char(1),char(14),char(0),char(108),char(1), +char(14),char(0),char(109),char(1),char(8),char(0),char(110),char(1),char(4),char(0),char(111),char(1),char(4),char(0),char(86),char(1),char(4),char(0),char(112),char(1), +char(4),char(0),char(113),char(1),char(8),char(0),char(114),char(1),char(8),char(0),char(115),char(1),char(8),char(0),char(116),char(1),char(8),char(0),char(117),char(1), +char(8),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(49),char(0),char(121),char(1),char(0),char(0),char(122),char(1), +char(92),char(0),char(20),char(0),char(15),char(0),char(104),char(1),char(13),char(0),char(105),char(1),char(13),char(0),char(106),char(1),char(13),char(0),char(107),char(1), +char(13),char(0),char(108),char(1),char(13),char(0),char(109),char(1),char(4),char(0),char(112),char(1),char(7),char(0),char(110),char(1),char(4),char(0),char(111),char(1), +char(4),char(0),char(86),char(1),char(7),char(0),char(114),char(1),char(7),char(0),char(115),char(1),char(7),char(0),char(116),char(1),char(4),char(0),char(113),char(1), +char(7),char(0),char(117),char(1),char(7),char(0),char(118),char(1),char(0),char(0),char(119),char(1),char(0),char(0),char(120),char(1),char(50),char(0),char(121),char(1), +char(0),char(0),char(122),char(1),char(93),char(0),char(9),char(0),char(20),char(0),char(123),char(1),char(14),char(0),char(124),char(1),char(8),char(0),char(125),char(1), +char(0),char(0),char(126),char(1),char(91),char(0),char(90),char(1),char(49),char(0),char(127),char(1),char(0),char(0),char(122),char(1),char(4),char(0),char(97),char(1), +char(0),char(0),char(37),char(0),char(94),char(0),char(7),char(0),char(0),char(0),char(126),char(1),char(92),char(0),char(90),char(1),char(50),char(0),char(127),char(1), +char(19),char(0),char(123),char(1),char(13),char(0),char(124),char(1),char(7),char(0),char(125),char(1),char(4),char(0),char(97),char(1),}; int sBulletDNAlen64= sizeof(sBulletDNAstr64); From b7482c114200347b81e5736036ac59713888d754 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Thu, 3 Nov 2016 09:54:56 -0700 Subject: [PATCH 009/102] Add model file for kuka with free base. --- data/kuka_iiwa/model_free_base.urdf | 289 ++++++++++++++++++++++++++++ 1 file changed, 289 insertions(+) create mode 100644 data/kuka_iiwa/model_free_base.urdf diff --git a/data/kuka_iiwa/model_free_base.urdf b/data/kuka_iiwa/model_free_base.urdf new file mode 100644 index 000000000..b87373346 --- /dev/null +++ b/data/kuka_iiwa/model_free_base.urdf @@ -0,0 +1,289 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From ff2c79e6bc3cea33bc104de3642900ad58b2a6e8 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Thu, 3 Nov 2016 12:14:39 -0700 Subject: [PATCH 010/102] Fix a bug in softbody contact handling. --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- src/BulletSoftBody/btSoftBody.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 0191b5f69..8b1edb68d 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1658,7 +1658,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm pm->m_kLST = 1.0; pm->m_flags -= btSoftBody::fMaterial::DebugDraw; psb->generateBendingConstraints(2,pm); - psb->m_cfg.piterations = 20; + psb->m_cfg.piterations = 50; psb->m_cfg.kDF = 0.5; psb->randomizeConstraints(); psb->rotate(btQuaternion(0.70711,0,0,0.70711)); diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index b45540b53..d5de7c1b4 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -3036,6 +3036,7 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) btRigidBody* rigidCol; btMultiBodyLinkCollider* multibodyLinkCol; btScalar* deltaV; + btMultiBodyJacobianData jacobianData; if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY) { rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj); @@ -3047,7 +3048,6 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti) if (multibodyLinkCol) { const int ndof = multibodyLinkCol->m_multiBody->getNumDofs() + 6; - btMultiBodyJacobianData jacobianData; jacobianData.m_jacobians.resize(ndof); jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof); btScalar* jac=&jacobianData.m_jacobians[0]; From 7bd585fa87b79e32639ca149af4cafc555103a23 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Fri, 4 Nov 2016 10:47:07 -0700 Subject: [PATCH 011/102] Fix memory leak in IK. --- examples/SharedMemory/IKTrajectoryHelper.cpp | 45 +++++++++----------- 1 file changed, 21 insertions(+), 24 deletions(-) diff --git a/examples/SharedMemory/IKTrajectoryHelper.cpp b/examples/SharedMemory/IKTrajectoryHelper.cpp index 13bd8a2ad..a9af38164 100644 --- a/examples/SharedMemory/IKTrajectoryHelper.cpp +++ b/examples/SharedMemory/IKTrajectoryHelper.cpp @@ -18,7 +18,6 @@ struct IKTrajectoryHelperInternalData VectorRn m_nullSpaceVelocity; b3AlignedObjectArray m_ikNodes; - Jacobian* m_ikJacobian; IKTrajectoryHelperInternalData() { @@ -48,23 +47,21 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3], { bool useAngularPart = (ikMethod==IK2_VEL_DLS_WITH_ORIENTATION || ikMethod==IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE) ? true : false; - m_data->m_ikJacobian = new Jacobian(useAngularPart,numQ); - -// Reset(m_ikTree,m_ikJacobian); + Jacobian ikJacobian(useAngularPart,numQ); - m_data->m_ikJacobian->Reset(); + ikJacobian.Reset(); bool UseJacobianTargets1 = false; if ( UseJacobianTargets1 ) { - m_data->m_ikJacobian->SetJtargetActive(); + ikJacobian.SetJtargetActive(); } else { - m_data->m_ikJacobian->SetJendActive(); + ikJacobian.SetJendActive(); } VectorR3 targets; targets.Set(endEffectorTargetPosition[0],endEffectorTargetPosition[1],endEffectorTargetPosition[2]); - m_data->m_ikJacobian->ComputeJacobian(&targets); // Set up Jacobian and deltaS vectors + ikJacobian.ComputeJacobian(&targets); // Set up Jacobian and deltaS vectors // Set one end effector world position from Bullet VectorRn deltaS(3); @@ -112,8 +109,8 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3], completeJacobian.Set(i+3,j,angular_jacobian[i*numQ+j]); } } - m_data->m_ikJacobian->SetDeltaS(deltaC); - m_data->m_ikJacobian->SetJendTrans(completeJacobian); + ikJacobian.SetDeltaS(deltaC); + ikJacobian.SetJendTrans(completeJacobian); } else { VectorRn deltaC(3); @@ -126,53 +123,53 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3], completeJacobian.Set(i,j,linear_jacobian[i*numQ+j]); } } - m_data->m_ikJacobian->SetDeltaS(deltaC); - m_data->m_ikJacobian->SetJendTrans(completeJacobian); + ikJacobian.SetDeltaS(deltaC); + ikJacobian.SetJendTrans(completeJacobian); } } // Calculate the change in theta values switch (ikMethod) { case IK2_JACOB_TRANS: - m_data->m_ikJacobian->CalcDeltaThetasTranspose(); // Jacobian transpose method + ikJacobian.CalcDeltaThetasTranspose(); // Jacobian transpose method break; case IK2_DLS: case IK2_VEL_DLS: case IK2_VEL_DLS_WITH_ORIENTATION: - m_data->m_ikJacobian->CalcDeltaThetasDLS(); // Damped least squares method + ikJacobian.CalcDeltaThetasDLS(); // Damped least squares method break; case IK2_VEL_DLS_WITH_NULLSPACE: case IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE: assert(m_data->m_nullSpaceVelocity.GetLength()==numQ); - m_data->m_ikJacobian->CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity); + ikJacobian.CalcDeltaThetasDLSwithNullspace(m_data->m_nullSpaceVelocity); break; case IK2_DLS_SVD: - m_data->m_ikJacobian->CalcDeltaThetasDLSwithSVD(); + ikJacobian.CalcDeltaThetasDLSwithSVD(); break; case IK2_PURE_PSEUDO: - m_data->m_ikJacobian->CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method + ikJacobian.CalcDeltaThetasPseudoinverse(); // Pure pseudoinverse method break; case IK2_SDLS: - m_data->m_ikJacobian->CalcDeltaThetasSDLS(); // Selectively damped least squares method + ikJacobian.CalcDeltaThetasSDLS(); // Selectively damped least squares method break; default: - m_data->m_ikJacobian->ZeroDeltaThetas(); + ikJacobian.ZeroDeltaThetas(); break; } // Use for velocity IK, update theta dot - //m_data->m_ikJacobian->UpdateThetaDot(); + //ikJacobian.UpdateThetaDot(); // Use for position IK, incrementally update theta - //m_data->m_ikJacobian->UpdateThetas(); + //ikJacobian.UpdateThetas(); // Apply the change in the theta values - //m_data->m_ikJacobian->UpdatedSClampValue(&targets); + //ikJacobian.UpdatedSClampValue(&targets); for (int i=0;im_ikJacobian->dTheta[i] + q_current[i]; + q_new[i] = ikJacobian.dTheta[i] + q_current[i]; // Use for position IK //q_new[i] = m_data->m_ikNodes[i]->GetTheta(); @@ -203,4 +200,4 @@ bool IKTrajectoryHelper::computeNullspaceVel(int numQ, const double* q_current, } } return true; -} \ No newline at end of file +} From 97083923220845ef04e73cfa6ef34d0142f07576 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 4 Nov 2016 13:15:10 -0700 Subject: [PATCH 012/102] work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever) --- build3/premake4.lua | 19 +- build_cmake_pybullet_win32.bat | 4 + examples/ExampleBrowser/CMakeLists.txt | 1 + .../ExampleBrowser/OpenGLExampleBrowser.cpp | 6 +- examples/ExampleBrowser/main.cpp | 4 + examples/ExampleBrowser/premake4.lua | 8 + .../MultiThreading/MultiThreadingExample.cpp | 3 + .../OpenGLWindow/GLInstancingRenderer.cpp | 8 +- examples/RoboticsLearning/b3RobotSimAPI.cpp | 5 +- .../RollingFrictionDemo.cpp | 10 +- examples/SharedMemory/PhysicsClientC_API.cpp | 132 ++-- examples/SharedMemory/PhysicsClientC_API.h | 12 +- .../PhysicsClientSharedMemory.cpp | 14 +- .../SharedMemory/PhysicsClientSharedMemory.h | 2 +- .../PhysicsClientSharedMemory2.cpp | 27 + .../SharedMemory/PhysicsClientSharedMemory2.h | 18 + .../PhysicsClientSharedMemory2_C_API.cpp | 19 + .../PhysicsClientSharedMemory2_C_API.h | 18 + .../PhysicsClientSharedMemory_C_API.cpp | 11 + .../PhysicsClientSharedMemory_C_API.h | 16 + examples/SharedMemory/PhysicsClientUDP.cpp | 577 ++++++++++++++++++ examples/SharedMemory/PhysicsClientUDP.h | 37 ++ .../SharedMemory/PhysicsClientUDP_C_API.cpp | 21 + .../SharedMemory/PhysicsClientUDP_C_API.h | 19 + .../PhysicsCommandProcessorInterface.h | 27 + examples/SharedMemory/PhysicsDirect.cpp | 264 +++++--- examples/SharedMemory/PhysicsDirect.h | 7 +- examples/SharedMemory/PhysicsDirectC_API.cpp | 10 +- .../PhysicsServerCommandProcessor.cpp | 21 +- .../PhysicsServerCommandProcessor.h | 38 +- .../SharedMemoryCommandProcessor.cpp | 216 +++++++ .../SharedMemoryCommandProcessor.h | 37 ++ examples/SharedMemory/SharedMemoryCommands.h | 5 +- examples/SharedMemory/premake4.lua | 13 +- examples/SharedMemory/udp/main.cpp | 187 ++++++ examples/SharedMemory/udp/premake4.lua | 46 ++ .../StandaloneMain/hellovr_opengl_main.cpp | 4 +- examples/ThirdPartyLibs/enet/premake4.lua | 3 +- examples/pybullet/CMakeLists.txt | 51 +- examples/pybullet/premake4.lua | 29 +- examples/pybullet/pybullet.c | 23 +- test/SharedMemory/CMakeLists.txt | 5 +- test/SharedMemory/premake4.lua | 2 + test/SharedMemory/test.c | 12 +- test/enet/chat/client/main.cpp | 165 +++++ test/enet/{ => chat}/client/premake4.lua | 4 +- test/enet/chat/server/main.cpp | 103 ++++ test/enet/{ => chat}/server/premake4.lua | 4 +- .../{ => nat_punchthrough}/client/main.cpp | 0 .../enet/nat_punchthrough/client/premake4.lua | 25 + .../{ => nat_punchthrough}/server/main.cpp | 0 .../enet/nat_punchthrough/server/premake4.lua | 26 + 52 files changed, 2104 insertions(+), 214 deletions(-) create mode 100644 build_cmake_pybullet_win32.bat create mode 100644 examples/SharedMemory/PhysicsClientSharedMemory2.cpp create mode 100644 examples/SharedMemory/PhysicsClientSharedMemory2.h create mode 100644 examples/SharedMemory/PhysicsClientSharedMemory2_C_API.cpp create mode 100644 examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h create mode 100644 examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp create mode 100644 examples/SharedMemory/PhysicsClientSharedMemory_C_API.h create mode 100644 examples/SharedMemory/PhysicsClientUDP.cpp create mode 100644 examples/SharedMemory/PhysicsClientUDP.h create mode 100644 examples/SharedMemory/PhysicsClientUDP_C_API.cpp create mode 100644 examples/SharedMemory/PhysicsClientUDP_C_API.h create mode 100644 examples/SharedMemory/PhysicsCommandProcessorInterface.h create mode 100644 examples/SharedMemory/SharedMemoryCommandProcessor.cpp create mode 100644 examples/SharedMemory/SharedMemoryCommandProcessor.h create mode 100644 examples/SharedMemory/udp/main.cpp create mode 100644 examples/SharedMemory/udp/premake4.lua create mode 100644 test/enet/chat/client/main.cpp rename test/enet/{ => chat}/client/premake4.lua (70%) create mode 100644 test/enet/chat/server/main.cpp rename test/enet/{ => chat}/server/premake4.lua (70%) rename test/enet/{ => nat_punchthrough}/client/main.cpp (100%) create mode 100644 test/enet/nat_punchthrough/client/premake4.lua rename test/enet/{ => nat_punchthrough}/server/main.cpp (100%) create mode 100644 test/enet/nat_punchthrough/server/premake4.lua diff --git a/build3/premake4.lua b/build3/premake4.lua index f0de611fd..06e85d591 100644 --- a/build3/premake4.lua +++ b/build3/premake4.lua @@ -73,8 +73,8 @@ newoption { - trigger = "enet", - description = "Enable enet NAT punchthrough test" + trigger = "no-enet", + description = "Disable enet and enet tests" } newoption @@ -261,14 +261,19 @@ end if not _OPTIONS["no-test"] then include "../test/SharedMemory" - if _OPTIONS["enet"] then - include "../examples/ThirdPartyLibs/enet" - include "../test/enet/client" - include "../test/enet/server" - end + end end + if not _OPTIONS["no-enet"] then + include "../examples/ThirdPartyLibs/enet" + include "../test/enet/nat_punchthrough/client" + include "../test/enet/nat_punchthrough/server" + include "../test/enet/chat/client" + include "../test/enet/chat/server" + defines {"BT_ENABLE_ENET"} + end + if _OPTIONS["no-bullet3"] then print "--no-bullet3 implies --no-demos" _OPTIONS["no-demos"] = "1" diff --git a/build_cmake_pybullet_win32.bat b/build_cmake_pybullet_win32.bat new file mode 100644 index 000000000..33317f2c1 --- /dev/null +++ b/build_cmake_pybullet_win32.bat @@ -0,0 +1,4 @@ +mkdir cm +cd cm +cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35_d.lib .. +start . diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index 024d928d3..f85beb6d5 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -146,6 +146,7 @@ SET(BulletExampleBrowser_SRCS ../SharedMemory/PhysicsServer.cpp ../SharedMemory/PhysicsClientSharedMemory.cpp + ../SharedMemory/PhysicsClientSharedMemory_C_API.cpp ../SharedMemory/PhysicsClient.cpp ../SharedMemory/PhysicsClientC_API.cpp ../SharedMemory/PhysicsServerExample.cpp diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index 70e717159..962f04437 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -134,9 +134,9 @@ int gSharedMemoryKey=-1; int gPreferredOpenCLDeviceIndex=-1; int gPreferredOpenCLPlatformIndex=-1; -int gGpuArraySizeX=15; -int gGpuArraySizeY=15; -int gGpuArraySizeZ=15; +int gGpuArraySizeX=45; +int gGpuArraySizeY=55; +int gGpuArraySizeZ=45; //#include //unsigned int fp_control_state = _controlfp(_EM_INEXACT, _MCW_EM); diff --git a/examples/ExampleBrowser/main.cpp b/examples/ExampleBrowser/main.cpp index d0f132c1a..05985d41e 100644 --- a/examples/ExampleBrowser/main.cpp +++ b/examples/ExampleBrowser/main.cpp @@ -15,6 +15,8 @@ #include "../Importers/ImportURDFDemo/ImportURDFSetup.h" #include "../Importers/ImportSDFDemo/ImportSDFSetup.h" #include "../Importers/ImportSTLDemo/ImportSTLSetup.h" +#include "../Importers/ImportBullet/SerializeSetup.h" + #include "LinearMath/btAlignedAllocator.h" @@ -34,6 +36,8 @@ int main(int argc, char* argv[]) exampleBrowser->registerFileImporter(".sdf", ImportSDFCreateFunc); exampleBrowser->registerFileImporter(".obj", ImportObjCreateFunc); exampleBrowser->registerFileImporter(".stl", ImportSTLCreateFunc); + exampleBrowser->registerFileImporter(".bullet", SerializeBulletCreateFunc); + clock.reset(); if (init) diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index c28ae0e5a..ff47ffc73 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -63,6 +63,14 @@ project "App_BulletExampleBrowser" "../SharedMemory/PhysicsServer.cpp", "../SharedMemory/PhysicsServerSharedMemory.cpp", "../SharedMemory/PhysicsClientSharedMemory.cpp", + "../SharedMemory/PhysicsClientSharedMemory_C_API.cpp", + "../SharedMemory/PhysicsClientSharedMemory_C_API.h", + "../SharedMemory/PhysicsClientSharedMemory2.cpp", + "../SharedMemory/PhysicsClientSharedMemory2.h", + "../SharedMemory/PhysicsClientSharedMemory2_C_API.cpp", + "../SharedMemory/PhysicsClientSharedMemory2_C_API.h", + "../SharedMemory/SharedMemoryCommandProcessor.cpp", + "../SharedMemory/SharedMemoryCommandProcessor.h", "../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp", "../SharedMemory/PhysicsClient.cpp", "../SharedMemory/PosixSharedMemory.cpp", diff --git a/examples/MultiThreading/MultiThreadingExample.cpp b/examples/MultiThreading/MultiThreadingExample.cpp index 1969912b9..33eb0e751 100644 --- a/examples/MultiThreading/MultiThreadingExample.cpp +++ b/examples/MultiThreading/MultiThreadingExample.cpp @@ -11,6 +11,7 @@ #include "stb_image/stb_image.h" #include "Bullet3Common/b3Quaternion.h" #include "Bullet3Common/b3Matrix3x3.h" +#include "../Utils/b3Clock.h" #include "../CommonInterfaces/CommonParameterInterface.h" #include "LinearMath/btAlignedObjectArray.h" @@ -134,6 +135,8 @@ void SampleThreadFunc(void* userPtr,void* lsMemory) job->executeJob(localStorage->threadId); } + b3Clock::usleep(250); + args->m_cs->lock(); int exitMagicNumber = args->m_cs->getSharedParam(1); requestExit = (exitMagicNumber==MAGIC_RESET_NUMBER); diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp index 718a9fc60..c6f620bab 100644 --- a/examples/OpenGLWindow/GLInstancingRenderer.cpp +++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp @@ -17,9 +17,9 @@ subject to the following restrictions: ///todo: make this configurable in the gui bool useShadowMap = true;// true;//false;//true; -int shadowMapWidth= 2048; -int shadowMapHeight= 2048; -float shadowMapWorldSize=5; +int shadowMapWidth= 4096; +int shadowMapHeight= 4096; +float shadowMapWorldSize=10; #define MAX_POINTS_IN_BATCH 1024 #define MAX_LINES_IN_BATCH 1024 @@ -1539,7 +1539,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode) b3Assert(glGetError() ==GL_NO_ERROR); } else { - //glDisable(GL_CULL_FACE); + glEnable(GL_CULL_FACE); glCullFace(GL_BACK); } diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp index 40527e481..81c308b92 100644 --- a/examples/RoboticsLearning/b3RobotSimAPI.cpp +++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp @@ -5,6 +5,8 @@ #include "Bullet3Common/b3AlignedObjectArray.h" #include "../CommonInterfaces/CommonRenderInterface.h" //#include "../CommonInterfaces/CommonExampleInterface.h" +#include "../SharedMemory/PhysicsServerCommandProcessor.h" + #include "../CommonInterfaces/CommonGUIHelperInterface.h" #include "../SharedMemory/PhysicsServerSharedMemory.h" #include "../SharedMemory/PhysicsServerSharedMemory.h" @@ -893,7 +895,8 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper) } else { - m_data->m_clientServerDirect = new PhysicsDirect(); + PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor; + m_data->m_clientServerDirect = new PhysicsDirect(sdk); bool connected = m_data->m_clientServerDirect->connect(guiHelper); m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect; diff --git a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp index 7e53be9b0..65a2404d3 100644 --- a/examples/RollingFrictionDemo/RollingFrictionDemo.cpp +++ b/examples/RollingFrictionDemo/RollingFrictionDemo.cpp @@ -123,8 +123,8 @@ void RollingFrictionDemo::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(1); - body->setRollingFriction(1); + body->setFriction(.5); + //add the body to the dynamics world m_dynamicsWorld->addRigidBody(body); } @@ -153,8 +153,7 @@ void RollingFrictionDemo::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setFriction(1); - body->setRollingFriction(1); + body->setFriction(.1); //add the body to the dynamics world m_dynamicsWorld->addRigidBody(body); } @@ -217,7 +216,8 @@ void RollingFrictionDemo::initPhysics() btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia); btRigidBody* body = new btRigidBody(rbInfo); body->setFriction(1.f); - body->setRollingFriction(.3); + body->setRollingFriction(.1); + body->setSpinningFriction(0.1); body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 434a99b7f..325c12fed 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -58,21 +58,25 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie b3Assert(cl); b3Assert(cl->canSubmitCommand()); - - struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); - b3Assert(command); - command->m_type = CMD_LOAD_URDF; - int len = strlen(urdfFileName); - if (lencanSubmitCommand()) { - strcpy(command->m_urdfArguments.m_urdfFileName,urdfFileName); - } else - { - command->m_urdfArguments.m_urdfFileName[0] = 0; + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_LOAD_URDF; + int len = strlen(urdfFileName); + if (len < MAX_URDF_FILENAME_LENGTH) + { + strcpy(command->m_urdfArguments.m_urdfFileName, urdfFileName); + } + else + { + command->m_urdfArguments.m_urdfFileName[0] = 0; + } + command->m_updateFlags = URDF_ARGS_FILE_NAME; + + return (b3SharedMemoryCommandHandle)command; } - command->m_updateFlags = URDF_ARGS_FILE_NAME; - - return (b3SharedMemoryCommandHandle) command; + return 0; } b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient) @@ -116,35 +120,52 @@ int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); b3Assert(command->m_type == CMD_LOAD_URDF); - command->m_updateFlags |=URDF_ARGS_USE_FIXED_BASE; - command->m_urdfArguments.m_useFixedBase = useFixedBase; - - return 0; + if (command && (command->m_type == CMD_LOAD_URDF)) + { + command->m_updateFlags |= URDF_ARGS_USE_FIXED_BASE; + command->m_urdfArguments.m_useFixedBase = useFixedBase; + return 0; + } + return -1; } int b3LoadUrdfCommandSetStartPosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); - b3Assert(command->m_type == CMD_LOAD_URDF); - command->m_urdfArguments.m_initialPosition[0] = startPosX; - command->m_urdfArguments.m_initialPosition[1] = startPosY; - command->m_urdfArguments.m_initialPosition[2] = startPosZ; - command->m_updateFlags|=URDF_ARGS_INITIAL_POSITION; - return 0; + if (command) + { + b3Assert(command->m_type == CMD_LOAD_URDF); + if (command->m_type == CMD_LOAD_URDF) + { + command->m_urdfArguments.m_initialPosition[0] = startPosX; + command->m_urdfArguments.m_initialPosition[1] = startPosY; + command->m_urdfArguments.m_initialPosition[2] = startPosZ; + command->m_updateFlags |= URDF_ARGS_INITIAL_POSITION; + } + return 0; + } + return -1; } int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); - b3Assert(command->m_type == CMD_LOAD_URDF); - command->m_urdfArguments.m_initialOrientation[0] = startOrnX; - command->m_urdfArguments.m_initialOrientation[1] = startOrnY; - command->m_urdfArguments.m_initialOrientation[2] = startOrnZ; - command->m_urdfArguments.m_initialOrientation[3] = startOrnW; - command->m_updateFlags|=URDF_ARGS_INITIAL_ORIENTATION; - return 0; + if (command) + { + b3Assert(command->m_type == CMD_LOAD_URDF); + if (command->m_type == CMD_LOAD_URDF) + { + command->m_urdfArguments.m_initialOrientation[0] = startOrnX; + command->m_urdfArguments.m_initialOrientation[1] = startOrnY; + command->m_urdfArguments.m_initialOrientation[2] = startOrnZ; + command->m_urdfArguments.m_initialOrientation[3] = startOrnW; + command->m_updateFlags |= URDF_ARGS_INITIAL_ORIENTATION; + } + return 0; + } + return -1; } b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient) @@ -174,7 +195,7 @@ int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandH { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS); - command->m_physSimParamArgs.m_allowRealTimeSimulation = enableRealTimeSimulation; + command->m_physSimParamArgs.m_allowRealTimeSimulation = (enableRealTimeSimulation!=0); command->m_updateFlags |= SIM_PARAM_UPDATE_REAL_TIME_SIMULATION; return 0; } @@ -621,20 +642,11 @@ int b3CreateSensorEnableIMUForLink(b3SharedMemoryCommandHandle commandHandle, in } -b3PhysicsClientHandle b3ConnectSharedMemory(int key) -{ - - PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory(); - ///client should never create shared memory, only the server does - cl->setSharedMemoryKey(key); - cl->connect(); - return (b3PhysicsClientHandle ) cl; -} - void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient) { PhysicsClient* cl = (PhysicsClient* ) physClient; + cl->disconnectSharedMemory(); delete cl; } @@ -772,22 +784,34 @@ int b3SubmitClientCommand(b3PhysicsClientHandle physClient, const b3SharedMemory { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; PhysicsClient* cl = (PhysicsClient* ) physClient; - return (int)cl->submitClientCommand(*command); + b3Assert(command); + b3Assert(cl); + if (command && cl) + { + return (int)cl->submitClientCommand(*command); + } + return -1; + } b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHandle physClient, const b3SharedMemoryCommandHandle commandHandle) { - int timeout = 1024*1024*1024; - b3SharedMemoryStatusHandle statusHandle=0; - - b3SubmitClientCommand(physClient,commandHandle); - - while ((statusHandle==0) && (timeout-- > 0)) - { - statusHandle =b3ProcessServerStatus(physClient); - } - return (b3SharedMemoryStatusHandle) statusHandle; - + int timeout = 1024 * 1024 * 1024; + b3SharedMemoryStatusHandle statusHandle = 0; + b3Assert(commandHandle); + b3Assert(physClient); + if (physClient && commandHandle) + { + b3SubmitClientCommand(physClient, commandHandle); + + while ((statusHandle == 0) && (timeout-- > 0)) + { + statusHandle = b3ProcessServerStatus(physClient); + } + return (b3SharedMemoryStatusHandle)statusHandle; + } + + return 0; } @@ -1546,4 +1570,4 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status } return true; -} \ No newline at end of file +} diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 68e579f6f..8a1381bf9 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -11,14 +11,18 @@ B3_DECLARE_HANDLE(b3SharedMemoryCommandHandle); B3_DECLARE_HANDLE(b3SharedMemoryStatusHandle); +///There are several connection methods, see following header files: +#include "PhysicsClientSharedMemory_C_API.h" +#include "PhysicsClientSharedMemory2_C_API.h" +#include "PhysicsDirectC_API.h" +#include "PhysicsClientUDP_C_API.h" +#include "SharedMemoryInProcessPhysicsC_API.h" + #ifdef __cplusplus extern "C" { #endif -///b3ConnectSharedMemory will connect to a physics server over shared memory, so -///make sure to start the server first. -///and a way to spawn an OpenGL 3D GUI physics server and connect (b3CreateInProcessPhysicsServerAndConnect) -b3PhysicsClientHandle b3ConnectSharedMemory(int key); + ///b3DisconnectSharedMemory will disconnect the client from the server and cleanup memory. void b3DisconnectSharedMemory(b3PhysicsClientHandle physClient); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 9dda6aca1..65f4d8aba 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -124,8 +124,11 @@ bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b if (bodyJointsPtr && *bodyJointsPtr) { BodyJointInfoCache* bodyJoints = *bodyJointsPtr; - info = bodyJoints->m_jointInfo[jointIndex]; - return true; + if ((jointIndex >= 0) && (jointIndex < bodyJoints->m_jointInfo.size())) + { + info = bodyJoints->m_jointInfo[jointIndex]; + return true; + } } return false; } @@ -210,7 +213,7 @@ void PhysicsClientSharedMemory::processBodyJointInfo(int bodyUniqueId, const Sha { bParse::btBulletFile bf( &this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0], - serverCmd.m_dataStreamArguments.m_streamChunkLength); + serverCmd.m_numDataStreamBytes); bf.setFileDNAisMemoryDNA(); bf.parse(false); @@ -291,16 +294,17 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { break; } + case CMD_URDF_LOADING_COMPLETED: { if (m_data->m_verboseOutput) { b3Printf("Server loading the URDF OK\n"); } - if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) { + if (serverCmd.m_numDataStreamBytes > 0) { bParse::btBulletFile bf( this->m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor, - serverCmd.m_dataStreamArguments.m_streamChunkLength); + serverCmd.m_numDataStreamBytes); bf.setFileDNAisMemoryDNA(); bf.parse(false); int bodyUniqueId = serverCmd.m_dataStreamArguments.m_bodyUniqueId; diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h index 2dc659646..1ebe5bccd 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.h +++ b/examples/SharedMemory/PhysicsClientSharedMemory.h @@ -12,7 +12,7 @@ class PhysicsClientSharedMemory : public PhysicsClient { protected: virtual void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem); void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd); - + public: PhysicsClientSharedMemory(); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory2.cpp b/examples/SharedMemory/PhysicsClientSharedMemory2.cpp new file mode 100644 index 000000000..7eea2298d --- /dev/null +++ b/examples/SharedMemory/PhysicsClientSharedMemory2.cpp @@ -0,0 +1,27 @@ + +#include "PhysicsClientSharedMemory2.h" +#include "PosixSharedMemory.h" +#include "Win32SharedMemory.h" +#include "Bullet3Common/b3Logging.h" +#include "Bullet3Common/b3Scalar.h" + +#include "SharedMemoryCommandProcessor.h" + + +PhysicsClientSharedMemory2::PhysicsClientSharedMemory2(SharedMemoryCommandProcessor* proc) + :PhysicsDirect(proc) +{ + m_proc = proc; +} +PhysicsClientSharedMemory2::~PhysicsClientSharedMemory2() +{ +} + +void PhysicsClientSharedMemory2::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem) +{ + if (m_proc) + { + m_proc->setSharedMemoryInterface(sharedMem); + } +} + diff --git a/examples/SharedMemory/PhysicsClientSharedMemory2.h b/examples/SharedMemory/PhysicsClientSharedMemory2.h new file mode 100644 index 000000000..e3b109370 --- /dev/null +++ b/examples/SharedMemory/PhysicsClientSharedMemory2.h @@ -0,0 +1,18 @@ +#ifndef PHYSICS_CLIENT_SHARED_MEMORY2_H +#define PHYSICS_CLIENT_SHARED_MEMORY2_H + +#include "PhysicsDirect.h" + +class PhysicsClientSharedMemory2 : public PhysicsDirect +{ + class SharedMemoryCommandProcessor* m_proc; + +public: + PhysicsClientSharedMemory2(SharedMemoryCommandProcessor* proc); + virtual ~PhysicsClientSharedMemory2(); + + void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem); + +}; + +#endif //PHYSICS_CLIENT_SHARED_MEMORY2_H \ No newline at end of file diff --git a/examples/SharedMemory/PhysicsClientSharedMemory2_C_API.cpp b/examples/SharedMemory/PhysicsClientSharedMemory2_C_API.cpp new file mode 100644 index 000000000..7323205d0 --- /dev/null +++ b/examples/SharedMemory/PhysicsClientSharedMemory2_C_API.cpp @@ -0,0 +1,19 @@ +#include "PhysicsClientSharedMemory2_C_API.h" + +#include "PhysicsDirect.h" +#include "SharedMemoryCommandProcessor.h" + +b3PhysicsClientHandle b3ConnectSharedMemory2(int key) +{ + + SharedMemoryCommandProcessor* cmdProc = new SharedMemoryCommandProcessor(); + cmdProc->setSharedMemoryKey(key); + PhysicsDirect* cl = new PhysicsDirect(cmdProc); + + cl->setSharedMemoryKey(key); + + cl->connect(); + + return (b3PhysicsClientHandle)cl; +} + diff --git a/examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h b/examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h new file mode 100644 index 000000000..95d4bf690 --- /dev/null +++ b/examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h @@ -0,0 +1,18 @@ +#ifndef PHYSICS_CLIENT_SHARED_MEMORY2_H +#define PHYSICS_CLIENT_SHARED_MEMORY2_H + +#include "PhysicsClientC_API.h" + +#ifdef __cplusplus +extern "C" { +#endif + + +b3PhysicsClientHandle b3ConnectSharedMemory2(int key); + + +#ifdef __cplusplus +} +#endif + +#endif //PHYSICS_CLIENT_SHARED_MEMORY2_H diff --git a/examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp b/examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp new file mode 100644 index 000000000..36c794f80 --- /dev/null +++ b/examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp @@ -0,0 +1,11 @@ +#include "PhysicsClientSharedMemory_C_API.h" + +#include "PhysicsClientSharedMemory.h" + +b3PhysicsClientHandle b3ConnectSharedMemory(int key) +{ + PhysicsClientSharedMemory* cl = new PhysicsClientSharedMemory(); + cl->setSharedMemoryKey(key); + cl->connect(); + return (b3PhysicsClientHandle)cl; +} diff --git a/examples/SharedMemory/PhysicsClientSharedMemory_C_API.h b/examples/SharedMemory/PhysicsClientSharedMemory_C_API.h new file mode 100644 index 000000000..2a4e4e665 --- /dev/null +++ b/examples/SharedMemory/PhysicsClientSharedMemory_C_API.h @@ -0,0 +1,16 @@ +#ifndef PHYSICS_CLIENT_SHARED_MEMORY_H +#define PHYSICS_CLIENT_SHARED_MEMORY_H + +#include "PhysicsClientC_API.h" + +#ifdef __cplusplus +extern "C" { +#endif + + b3PhysicsClientHandle b3ConnectSharedMemory(int key); + +#ifdef __cplusplus +} +#endif + +#endif //PHYSICS_CLIENT_SHARED_MEMORY_H diff --git a/examples/SharedMemory/PhysicsClientUDP.cpp b/examples/SharedMemory/PhysicsClientUDP.cpp new file mode 100644 index 000000000..a112e0900 --- /dev/null +++ b/examples/SharedMemory/PhysicsClientUDP.cpp @@ -0,0 +1,577 @@ +#include "PhysicsClientUDP.h" +#include +#include +#include +#include "../Utils/b3Clock.h" +#include "PhysicsClient.h" +//#include "LinearMath/btVector3.h" +#include "SharedMemoryCommands.h" +#include +#include "Bullet3Common/b3Logging.h" +#include "../MultiThreading/b3ThreadSupportInterface.h" +void UDPThreadFunc(void* userPtr, void* lsMemory); +void* UDPlsMemoryFunc(); + +#ifndef _WIN32 +#include "../MultiThreading/b3PosixThreadSupport.h" + +b3ThreadSupportInterface* createUDPThreadSupport(int numThreads) +{ + b3PosixThreadSupport::ThreadConstructionInfo constructionInfo("UDPThread", + UDPThreadFunc, + UDPlsMemoryFunc, + numThreads); + b3ThreadSupportInterface* threadSupport = new b3PosixThreadSupport(constructionInfo); + + return threadSupport; + +} + + +#elif defined( _WIN32) +#include "../MultiThreading/b3Win32ThreadSupport.h" + +b3ThreadSupportInterface* createUDPThreadSupport(int numThreads) +{ + b3Win32ThreadSupport::Win32ThreadConstructionInfo threadConstructionInfo("UDPThread", UDPThreadFunc, UDPlsMemoryFunc, numThreads); + b3Win32ThreadSupport* threadSupport = new b3Win32ThreadSupport(threadConstructionInfo); + return threadSupport; + +} +#endif + + + +struct UDPThreadLocalStorage +{ + int threadId; +}; + + + +unsigned int b3DeserializeInt(const unsigned char* input) +{ + unsigned int tmp = (input[3] << 24) + (input[2] << 16) + (input[1] << 8) + input[0]; + return tmp; +} + +struct UdpNetworkedInternalData +{ + ENetHost* m_client; + ENetAddress m_address; + ENetPeer* m_peer; + ENetEvent m_event; + bool m_isConnected; + + b3ThreadSupportInterface* m_threadSupport; + + b3CriticalSection* m_cs; + + UdpNetworkedInternalData* m_udpInternalData; + + + SharedMemoryCommand m_clientCmd; + bool m_hasCommand; + + bool m_hasStatus; + SharedMemoryStatus m_lastStatus; + b3AlignedObjectArray m_stream; + + std::string m_hostName; + int m_port; + + UdpNetworkedInternalData() + :m_client(0), + m_peer(0), + m_isConnected(false), + m_threadSupport(0), + m_hasCommand(false), + m_hasStatus(false) + { + + } + + bool connectUDP() + { + if (m_isConnected) + return true; + + + + if (enet_initialize() != 0) + { + fprintf(stderr, "Error initialising enet"); + exit(EXIT_FAILURE); + + } + + m_client = enet_host_create(NULL, /* create a client host */ + 1, /* number of clients */ + 2, /* number of channels */ + 57600 / 8, /* incoming bandwith */ + 14400 / 8); /* outgoing bandwith */ + + if (m_client == NULL) { + fprintf(stderr, "Could not create client host"); + return false; + } + + enet_address_set_host(&m_address, m_hostName.c_str()); + m_address.port = m_port; + + m_peer = enet_host_connect(m_client, + &m_address, /* address to connect to */ + 2, /* number of channels */ + 0); /* user data supplied to + the receiving host */ + + if (m_peer == NULL) { + fprintf(stderr, "No available peers for initiating an ENet " + "connection.\n"); + return false; + + } + + + /* Try to connect to server within 5 seconds */ + if (enet_host_service(m_client, &m_event, 5000) > 0 && + m_event.type == ENET_EVENT_TYPE_CONNECT) + { + puts("Connection to server succeeded."); + } + else + { + /* Either the 5 seconds are up or a disconnect event was */ + /* received. Reset the peer in the event the 5 seconds */ + /* had run out without any significant event. */ + enet_peer_reset(m_peer); + + fprintf(stderr, "Connection to server failed."); + return false; + } + + + int serviceResult = enet_host_service(m_client, &m_event, 0); + + if (serviceResult > 0) + { + switch (m_event.type) + { + case ENET_EVENT_TYPE_CONNECT: + printf("A new client connected from %x:%u.\n", + m_event.peer->address.host, + m_event.peer->address.port); + m_event.peer->data = (void*)"New User"; + break; + + case ENET_EVENT_TYPE_RECEIVE: + printf("A packet of length %u containing '%s' was " + "received from %s on channel %u.\n", + m_event.packet->dataLength, + m_event.packet->data, + m_event.peer->data, + m_event.channelID); + + /* Clean up the packet now that we're done using it. + > */ + enet_packet_destroy(m_event.packet); + + break; + + case ENET_EVENT_TYPE_DISCONNECT: + printf("%s disconected.\n", m_event.peer->data); + + break; + } + } + else if (serviceResult > 0) + { + puts("Error with servicing the client"); + return false; + } + + m_isConnected = true; + return m_isConnected; + } + + bool checkData() + { + bool hasStatus = false; + + int serviceResult = enet_host_service(m_client, &m_event, 100); + + if (serviceResult > 0) + { + switch (m_event.type) + { + case ENET_EVENT_TYPE_CONNECT: + printf("A new client connected from %x:%u.\n", + m_event.peer->address.host, + m_event.peer->address.port); + + m_event.peer->data = (void*)"New User"; + break; + + case ENET_EVENT_TYPE_RECEIVE: + { + printf("A packet of length %u containing '%s' was " + "received from %s on channel %u.\n", + m_event.packet->dataLength, + m_event.packet->data, + m_event.peer->data, + m_event.channelID); + + + int packetSizeInBytes = b3DeserializeInt(m_event.packet->data); + + if (packetSizeInBytes == m_event.packet->dataLength) + { + + SharedMemoryStatus* statPtr = (SharedMemoryStatus*)&m_event.packet->data[4]; + m_lastStatus = *statPtr; + int streamOffsetInBytes = 4 + sizeof(SharedMemoryStatus); + int numStreamBytes = packetSizeInBytes - streamOffsetInBytes; + m_stream.resize(numStreamBytes); + for (int i = 0; i < numStreamBytes; i++) + { + m_stream[i] = m_event.packet->data[i + streamOffsetInBytes]; + } + } + else + { + printf("unknown status message received\n"); + } + enet_packet_destroy(m_event.packet); + hasStatus = true; + break; + } + case ENET_EVENT_TYPE_DISCONNECT: + { + printf("%s disconected.\n", m_event.peer->data); + + break; + } + } + } + else if (serviceResult > 0) + { + puts("Error with servicing the client"); + } + + return hasStatus; + } + +}; + +enum UDPThreadEnums +{ + eUDPRequestTerminate = 13, + eUDPIsUnInitialized, + eUDPIsInitialized, + eUDPInitializationFailed, + eUDPHasTerminated +}; + + + +enum UDPCommandEnums +{ + eUDPIdle = 13, + eUDP_ConnectRequest, + eUDP_Connected, + eUDP_ConnectionFailed, + eUDP_DisconnectRequest, + eUDP_Disconnected, + +}; + +void UDPThreadFunc(void* userPtr, void* lsMemory) +{ + printf("UDPThreadFunc thread started\n"); + UDPThreadLocalStorage* localStorage = (UDPThreadLocalStorage*)lsMemory; + + UdpNetworkedInternalData* args = (UdpNetworkedInternalData*)userPtr; + int workLeft = true; + b3Clock clock; + clock.reset(); + bool init = true; + if (init) + { + + args->m_cs->lock(); + args->m_cs->setSharedParam(0, eUDPIsInitialized); + args->m_cs->unlock(); + + + double deltaTimeInSeconds = 0; + + do + { + deltaTimeInSeconds += double(clock.getTimeMicroseconds()) / 1000000.; + + if (deltaTimeInSeconds<(1. / 5000.)) + { +// b3Clock::usleep(250); + } + else + { + + clock.reset(); + deltaTimeInSeconds = 0.f; + switch (args->m_cs->getSharedParam(1)) + { + case eUDP_ConnectRequest: + { + bool connected = args->connectUDP(); + if (connected) + { + args->m_cs->setSharedParam(1, eUDP_Connected); + } + else + { + args->m_cs->setSharedParam(1, eUDP_ConnectionFailed); + } + break; + } + default: + { + } + }; + + if (args->m_isConnected) + { + + args->m_cs->lock(); + bool hasCommand = args->m_hasCommand; + args->m_cs->unlock(); + + + if (hasCommand) + { + + int sz = sizeof(SharedMemoryCommand); + ENetPacket *packet = enet_packet_create(&args->m_clientCmd, sz, ENET_PACKET_FLAG_RELIABLE); + int res = enet_peer_send(args->m_peer, 0, packet); + args->m_cs->lock(); + args->m_hasCommand = false; + args->m_cs->unlock(); + } + + + bool hasNewStatus = args->checkData(); + if (hasNewStatus) + { + if (args->m_hasStatus) + { + //overflow: last status hasn't been processed yet + b3Assert(0); + printf("Error: received new status but previous status not processed yet"); + } + else + { + args->m_cs->lock(); + args->m_hasStatus = hasNewStatus; + args->m_cs->unlock(); + } + } + } + + } + + } while (args->m_cs->getSharedParam(0) != eUDPRequestTerminate); + } + else + { + args->m_cs->lock(); + args->m_cs->setSharedParam(0, eUDPInitializationFailed); + args->m_cs->unlock(); + } + + + printf("finished\n"); + +} + + + +void* UDPlsMemoryFunc() +{ + //don't create local store memory, just return 0 + return new UDPThreadLocalStorage; +} + + + + + + + +UdpNetworkedPhysicsProcessor::UdpNetworkedPhysicsProcessor(const char* hostName, int port) +{ + m_data = new UdpNetworkedInternalData; + if (hostName) + { + m_data->m_hostName = hostName; + } + m_data->m_port = port; + +} + +UdpNetworkedPhysicsProcessor::~UdpNetworkedPhysicsProcessor() +{ + disconnect(); + delete m_data; +} + +bool UdpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) +{ + int sz = sizeof(SharedMemoryCommand); + int timeout = 1024 * 1024 * 1024; + + m_data->m_cs->lock(); + m_data->m_clientCmd = clientCmd; + m_data->m_hasCommand = true; + m_data->m_cs->unlock(); + + while (m_data->m_hasCommand && (timeout-- > 0)) + { +// b3Clock::usleep(100); + } + +#if 0 + + timeout = 1024 * 1024 * 1024; + + bool hasStatus = false; + + const SharedMemoryStatus* stat = 0; + while ((!hasStatus) && (timeout-- > 0)) + { + hasStatus = receiveStatus(serverStatusOut, bufferServerToClient, bufferSizeInBytes); + b3Clock::usleep(100); + } + return hasStatus; + +#endif + + return false; +} + +bool UdpNetworkedPhysicsProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) +{ + bool hasStatus = false; + if (m_data->m_hasStatus) + { + hasStatus = true; + serverStatusOut = m_data->m_lastStatus; + int numStreamBytes = m_data->m_stream.size(); + + if (numStreamBytes < bufferSizeInBytes) + { + for (int i = 0; i < numStreamBytes; i++) + { + bufferServerToClient[i] = m_data->m_stream[i]; + } + } + else + { + printf("Error: steam buffer overflow\n"); + } + + m_data->m_cs->lock(); + m_data->m_hasStatus = false; + m_data->m_cs->unlock(); + } + + + return hasStatus; + +} + + +void UdpNetworkedPhysicsProcessor::renderScene() +{ +} + +void UdpNetworkedPhysicsProcessor::physicsDebugDraw(int debugDrawFlags) +{ +} + +void UdpNetworkedPhysicsProcessor::setGuiHelper(struct GUIHelperInterface* guiHelper) +{ +} + +bool UdpNetworkedPhysicsProcessor::isConnected() const +{ + return m_data->m_isConnected; +} + + +bool UdpNetworkedPhysicsProcessor::connect() +{ + if (m_data->m_threadSupport==0) + { + m_data->m_threadSupport = createUDPThreadSupport(1); + + m_data->m_cs = m_data->m_threadSupport->createCriticalSection(); + m_data->m_cs->setSharedParam(0, eUDPIsUnInitialized); + m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) m_data, 0); + + while (m_data->m_cs->getSharedParam(0) == eUDPIsUnInitialized) + { + b3Clock::usleep(1000); + } + + m_data->m_cs->lock(); + m_data->m_cs->setSharedParam(1, eUDP_ConnectRequest); + m_data->m_cs->unlock(); + + while (m_data->m_cs->getSharedParam(1) == eUDP_ConnectRequest) + { + b3Clock::usleep(1000); + } + + } + + + return true; +} + +void UdpNetworkedPhysicsProcessor::disconnect() +{ + if (m_data->m_threadSupport) + { + m_data->m_cs->lock(); + m_data->m_cs->setSharedParam(0, eUDPRequestTerminate); + m_data->m_cs->unlock(); + + int numActiveThreads = 1; + + while (numActiveThreads) + { + int arg0, arg1; + if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0)) + { + numActiveThreads--; + printf("numActiveThreads = %d\n", numActiveThreads); + } + else + { + b3Clock::usleep(1000); + } + }; + + printf("stopping threads\n"); + + delete m_data->m_threadSupport; + m_data->m_threadSupport = 0; + } + + + +} + + + + + diff --git a/examples/SharedMemory/PhysicsClientUDP.h b/examples/SharedMemory/PhysicsClientUDP.h new file mode 100644 index 000000000..27b94fd48 --- /dev/null +++ b/examples/SharedMemory/PhysicsClientUDP.h @@ -0,0 +1,37 @@ +#ifndef PHYSICS_CLIENT_UDP_H +#define PHYSICS_CLIENT_UDP_H + +#include "PhysicsDirect.h" +#include "PhysicsServerCommandProcessor.h" + +class UdpNetworkedPhysicsProcessor : public PhysicsCommandProcessorInterface +{ + + struct UdpNetworkedInternalData* m_data; + +public: + UdpNetworkedPhysicsProcessor(const char* hostName, int port); + + virtual ~UdpNetworkedPhysicsProcessor(); + + virtual bool connect(); + + virtual void disconnect(); + + virtual bool isConnected() const; + + virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); + + virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); + + virtual void renderScene(); + + virtual void physicsDebugDraw(int debugDrawFlags); + + virtual void setGuiHelper(struct GUIHelperInterface* guiHelper); + +}; + + +#endif //PHYSICS_CLIENT_UDP_H + diff --git a/examples/SharedMemory/PhysicsClientUDP_C_API.cpp b/examples/SharedMemory/PhysicsClientUDP_C_API.cpp new file mode 100644 index 000000000..f48fdedb8 --- /dev/null +++ b/examples/SharedMemory/PhysicsClientUDP_C_API.cpp @@ -0,0 +1,21 @@ + +#include "PhysicsClientUDP_C_API.h" +#include "PhysicsClientUDP.h" +#include "PhysicsDirect.h" +#include + +//think more about naming. The b3ConnectPhysicsLoopback +b3PhysicsClientHandle b3ConnectPhysicsUDP(const char* hostName, int port) +{ + + UdpNetworkedPhysicsProcessor* udp = new UdpNetworkedPhysicsProcessor(hostName, port); + + PhysicsDirect* direct = new PhysicsDirect(udp); + + bool connected = direct->connect(); + printf("direct!\n"); + return (b3PhysicsClientHandle)direct; +} + + + diff --git a/examples/SharedMemory/PhysicsClientUDP_C_API.h b/examples/SharedMemory/PhysicsClientUDP_C_API.h new file mode 100644 index 000000000..fdb97bcab --- /dev/null +++ b/examples/SharedMemory/PhysicsClientUDP_C_API.h @@ -0,0 +1,19 @@ +#ifndef PHYSICS_CLIENT_UDP_C_API_H +#define PHYSICS_CLIENT_UDP_C_API_H + +#include "PhysicsClientC_API.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + ///send physics commands using UDP networking + b3PhysicsClientHandle b3ConnectPhysicsUDP(const char* hostName, int port); + + +#ifdef __cplusplus +} +#endif + +#endif //PHYSICS_CLIENT_UDP_C_API_H diff --git a/examples/SharedMemory/PhysicsCommandProcessorInterface.h b/examples/SharedMemory/PhysicsCommandProcessorInterface.h new file mode 100644 index 000000000..39b5f36d5 --- /dev/null +++ b/examples/SharedMemory/PhysicsCommandProcessorInterface.h @@ -0,0 +1,27 @@ +#ifndef PHYSICS_COMMAND_PROCESSOR_INTERFACE_H +#define PHYSICS_COMMAND_PROCESSOR_INTERFACE_H + +class PhysicsCommandProcessorInterface +{ + +public: + virtual ~PhysicsCommandProcessorInterface() {} + + virtual bool connect()=0; + + virtual void disconnect() = 0; + + virtual bool isConnected() const = 0; + + virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) = 0; + + virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) = 0; + + virtual void renderScene() = 0; + virtual void physicsDebugDraw(int debugDrawFlags) = 0; + virtual void setGuiHelper(struct GUIHelperInterface* guiHelper) = 0; + + +}; + +#endif //PHYSICS_COMMAND_PROCESSOR_INTERFACE_H diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index 65c1beb13..8b21eeaa3 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -3,7 +3,9 @@ #include "PhysicsClientSharedMemory.h" #include "../CommonInterfaces/CommonGUIHelperInterface.h" #include "SharedMemoryCommands.h" -#include "PhysicsServerCommandProcessor.h" +#include "PhysicsCommandProcessorInterface.h" + + #include "LinearMath/btHashMap.h" #include "LinearMath/btAlignedObjectArray.h" #include "../../Extras/Serialize/BulletFileLoader/btBulletFile.h" @@ -44,26 +46,34 @@ struct PhysicsDirectInternalData btAlignedObjectArray m_cachedVisualShapes; - PhysicsServerCommandProcessor* m_commandProcessor; + PhysicsCommandProcessorInterface* m_commandProcessor; + bool m_ownsCommandProcessor; PhysicsDirectInternalData() :m_hasStatus(false), - m_verboseOutput(false) + m_verboseOutput(false), + m_ownsCommandProcessor(false) { } }; -PhysicsDirect::PhysicsDirect() +PhysicsDirect::PhysicsDirect(PhysicsCommandProcessorInterface* physSdk) { m_data = new PhysicsDirectInternalData; - m_data->m_commandProcessor = new PhysicsServerCommandProcessor; - - + m_data->m_commandProcessor = physSdk; + m_data->m_ownsCommandProcessor = false; } PhysicsDirect::~PhysicsDirect() { - delete m_data->m_commandProcessor; + if (m_data->m_commandProcessor->isConnected()) + { + m_data->m_commandProcessor->disconnect(); + } + if (m_data->m_ownsCommandProcessor) + { + delete m_data->m_commandProcessor; + } delete m_data; } @@ -71,23 +81,26 @@ PhysicsDirect::~PhysicsDirect() // return true if connection succesfull, can also check 'isConnected' bool PhysicsDirect::connect() { + bool connected = m_data->m_commandProcessor->connect(); m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx); - - return true; + return connected; } // return true if connection succesfull, can also check 'isConnected' bool PhysicsDirect::connect(struct GUIHelperInterface* guiHelper) { + bool connected = m_data->m_commandProcessor->connect(); + m_data->m_commandProcessor->setGuiHelper(guiHelper); - return true; + return connected; } void PhysicsDirect::renderScene() { m_data->m_commandProcessor->renderScene(); } + void PhysicsDirect::debugDraw(int debugDrawMode) { m_data->m_commandProcessor->physicsDebugDraw(debugDrawMode); @@ -96,21 +109,31 @@ void PhysicsDirect::debugDraw(int debugDrawMode) ////todo: rename to 'disconnect' void PhysicsDirect::disconnectSharedMemory() { + m_data->m_commandProcessor->disconnect(); m_data->m_commandProcessor->setGuiHelper(0); } bool PhysicsDirect::isConnected() const { - return true; + return m_data->m_commandProcessor->isConnected(); } // return non-null if there is a status, nullptr otherwise const SharedMemoryStatus* PhysicsDirect::processServerStatus() { + + if (!m_data->m_hasStatus) + { + m_data->m_hasStatus = m_data->m_commandProcessor->receiveStatus(m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + } + SharedMemoryStatus* stat = 0; if (m_data->m_hasStatus) { stat = &m_data->m_serverStatus; + + postProcessStatus(m_data->m_serverStatus); + m_data->m_hasStatus = false; } return stat; @@ -136,7 +159,19 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma { bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + + int timeout = 1024 * 1024 * 1024; + while ((!hasStatus) && (timeout-- > 0)) + { + const SharedMemoryStatus* stat = processServerStatus(); + if (stat) + { + hasStatus = true; + } + } + m_data->m_hasStatus = hasStatus; + if (hasStatus) { btAssert(m_data->m_serverStatus.m_type == CMD_DEBUG_LINES_COMPLETED); @@ -184,6 +219,8 @@ bool PhysicsDirect::processDebugLines(const struct SharedMemoryCommand& orgComma if (serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0) { + m_data->m_hasStatus = false; + command.m_type = CMD_REQUEST_DEBUG_LINES; command.m_requestDebugLinesArguments.m_startingLineIndex = serverCmd.m_sendDebugLinesArgs.m_numDebugLines + @@ -204,6 +241,17 @@ bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& org do { bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + + int timeout = 1024 * 1024 * 1024; + while ((!hasStatus) && (timeout-- > 0)) + { + const SharedMemoryStatus* stat = processServerStatus(); + if (stat) + { + hasStatus = true; + } + } + m_data->m_hasStatus = hasStatus; if (hasStatus) { @@ -223,6 +271,8 @@ bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& org if (serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes >0 && serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied) { + m_data->m_hasStatus = false; + command.m_type = CMD_REQUEST_VISUAL_SHAPE_INFO; command.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex + serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied; command.m_requestVisualShapeDataArguments.m_bodyUniqueId = serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId; @@ -243,7 +293,19 @@ bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& or do { bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); - m_data->m_hasStatus = hasStatus; + + int timeout = 1024 * 1024 * 1024; + while ((!hasStatus) && (timeout-- > 0)) + { + const SharedMemoryStatus* stat = processServerStatus(); + if (stat) + { + hasStatus = true; + } + } + + + m_data->m_hasStatus = hasStatus; if (hasStatus) { if (m_data->m_verboseOutput) @@ -264,7 +326,10 @@ bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& or if (serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints>0 && serverCmd.m_sendContactPointArgs.m_numContactPointsCopied) { - command.m_type = CMD_REQUEST_CONTACT_POINT_INFORMATION; + + m_data->m_hasStatus = false; + + command.m_type = CMD_REQUEST_CONTACT_POINT_INFORMATION; command.m_requestContactPointArguments.m_startingContactPointIndex = serverCmd.m_sendContactPointArgs.m_startingContactPointIndex+serverCmd.m_sendContactPointArgs.m_numContactPointsCopied; command.m_requestContactPointArguments.m_objectAIndexFilter = -1; command.m_requestContactPointArguments.m_objectBIndexFilter = -1; @@ -289,6 +354,18 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand) { bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + + int timeout = 1024 * 1024 * 1024; + while ((!hasStatus) && (timeout-- > 0)) + { + const SharedMemoryStatus* stat = processServerStatus(); + if (stat) + { + hasStatus = true; + } + } + + m_data->m_hasStatus = hasStatus; if (hasStatus) { @@ -340,6 +417,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand) if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied) { + m_data->m_hasStatus = false; // continue requesting remaining pixels command.m_type = CMD_REQUEST_CAMERA_IMAGE_DATA; @@ -365,7 +443,7 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta { bParse::btBulletFile bf( &m_data->m_bulletStreamDataServerToClient[0], - serverCmd.m_dataStreamArguments.m_streamChunkLength); + serverCmd.m_numDataStreamBytes); bf.setFileDNAisMemoryDNA(); bf.parse(false); @@ -402,6 +480,87 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta } } +void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd) +{ + switch (serverCmd.m_type) + { + case CMD_RESET_SIMULATION_COMPLETED: + { + m_data->m_debugLinesFrom.clear(); + m_data->m_debugLinesTo.clear(); + m_data->m_debugLinesColor.clear(); + for (int i = 0; im_bodyJointMap.size(); i++) + { + BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i); + if (bodyJointsPtr && *bodyJointsPtr) + { + BodyJointInfoCache2* bodyJoints = *bodyJointsPtr; + for (int j = 0; jm_jointInfo.size(); j++) { + if (bodyJoints->m_jointInfo[j].m_jointName) + { + free(bodyJoints->m_jointInfo[j].m_jointName); + } + if (bodyJoints->m_jointInfo[j].m_linkName) + { + free(bodyJoints->m_jointInfo[j].m_linkName); + } + } + delete (*bodyJointsPtr); + } + } + m_data->m_bodyJointMap.clear(); + + break; + } + case CMD_SDF_LOADING_COMPLETED: + { + //we'll stream further info from the physics server + //so serverCmd will be invalid, make a copy + + + int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies; + for (int i = 0; im_commandProcessor->processCommand(infoRequestCommand, infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + + + int timeout = 1024 * 1024 * 1024; + while ((!hasStatus) && (timeout-- > 0)) + { + hasStatus = m_data->m_commandProcessor->receiveStatus(infoStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + } + + if (hasStatus) + { + processBodyJointInfo(bodyUniqueId, infoStatus); + } + } + break; + } + case CMD_URDF_LOADING_COMPLETED: + { + + if (serverCmd.m_numDataStreamBytes > 0) + { + int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId; + processBodyJointInfo(bodyIndex, serverCmd); + } + break; + } + + default: + { + // b3Error("Unknown server status type"); + } + }; + + +} bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& command) { if (command.m_type==CMD_REQUEST_DEBUG_LINES) @@ -427,78 +586,7 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman m_data->m_hasStatus = hasStatus; if (hasStatus) { - const SharedMemoryStatus& serverCmd = m_data->m_serverStatus; - - switch (m_data->m_serverStatus.m_type) - { - case CMD_RESET_SIMULATION_COMPLETED: - { - m_data->m_debugLinesFrom.clear(); - m_data->m_debugLinesTo.clear(); - m_data->m_debugLinesColor.clear(); - for (int i=0;im_bodyJointMap.size();i++) - { - BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap.getAtIndex(i); - if (bodyJointsPtr && *bodyJointsPtr) - { - BodyJointInfoCache2* bodyJoints = *bodyJointsPtr; - for (int j=0;jm_jointInfo.size();j++) { - if (bodyJoints->m_jointInfo[j].m_jointName) - { - free(bodyJoints->m_jointInfo[j].m_jointName); - } - if (bodyJoints->m_jointInfo[j].m_linkName) - { - free(bodyJoints->m_jointInfo[j].m_linkName); - } - } - delete (*bodyJointsPtr); - } - } - m_data->m_bodyJointMap.clear(); - - break; - } - case CMD_SDF_LOADING_COMPLETED: - { - //we'll stream further info from the physics server - //so serverCmd will be invalid, make a copy - - - int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies; - for (int i=0;im_commandProcessor->processCommand(infoRequestCommand,infoStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); - if (hasStatus) - { - processBodyJointInfo(bodyUniqueId, infoStatus); - } - } - break; - } - case CMD_URDF_LOADING_COMPLETED: - { - - if (serverCmd.m_dataStreamArguments.m_streamChunkLength > 0) - { - int bodyIndex = serverCmd.m_dataStreamArguments.m_bodyUniqueId; - processBodyJointInfo(bodyIndex,serverCmd); - } - break; - } - - default: - { - // b3Error("Unknown server status type"); - } - }; - - + postProcessStatus(m_data->m_serverStatus); } return hasStatus; } @@ -549,7 +637,7 @@ bool PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointIn if (bodyJointsPtr && *bodyJointsPtr) { BodyJointInfoCache2* bodyJoints = *bodyJointsPtr; - if (jointIndex < bodyJoints->m_jointInfo.size()) + if ((jointIndex >=0) && (jointIndex < bodyJoints->m_jointInfo.size())) { info = bodyJoints->m_jointInfo[jointIndex]; return true; diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h index 2252da3c3..968f8f560 100644 --- a/examples/SharedMemory/PhysicsDirect.h +++ b/examples/SharedMemory/PhysicsDirect.h @@ -7,9 +7,6 @@ #include "PhysicsClient.h" #include "LinearMath/btVector3.h" -///todo: the PhysicsClient API was designed with shared memory in mind, -///now it become more general we need to move out the shared memory specifics away -///for example naming [disconnectSharedMemory -> disconnect] [ move setSharedMemoryKey to shared memory specific subclass ] ///PhysicsDirect executes the commands directly, without transporting them or having a separate server executing commands class PhysicsDirect : public PhysicsClient { @@ -27,9 +24,11 @@ protected: void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd); + void postProcessStatus(const struct SharedMemoryStatus& serverCmd); + public: - PhysicsDirect(); + PhysicsDirect(class PhysicsCommandProcessorInterface* physSdk); virtual ~PhysicsDirect(); diff --git a/examples/SharedMemory/PhysicsDirectC_API.cpp b/examples/SharedMemory/PhysicsDirectC_API.cpp index e5e73b203..61ceef26f 100644 --- a/examples/SharedMemory/PhysicsDirectC_API.cpp +++ b/examples/SharedMemory/PhysicsDirectC_API.cpp @@ -2,13 +2,21 @@ #include "PhysicsDirect.h" +#include "PhysicsServerCommandProcessor.h" + //think more about naming. The b3ConnectPhysicsLoopback b3PhysicsClientHandle b3ConnectPhysicsDirect() { - PhysicsDirect* direct = new PhysicsDirect(); + PhysicsServerCommandProcessor* sdk = new PhysicsServerCommandProcessor; + + PhysicsDirect* direct = new PhysicsDirect(sdk); bool connected = direct->connect(); return (b3PhysicsClientHandle )direct; } + + +// + diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 667179239..278f0b7ee 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1187,6 +1187,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm //catch uninitialized cases serverStatusOut.m_type = CMD_INVALID_STATUS; + serverStatusOut.m_numDataStreamBytes = 0; + serverStatusOut.m_dataStream = 0; //consume the command switch (clientCmd.m_type) @@ -1244,7 +1246,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } //9 floats per line: 3 floats for 'from', 3 floats for 'to' and 3 floats for 'color' - int maxNumLines = bufferSizeInBytes/(sizeof(float)*9)-1; + int bytesPerLine = (sizeof(float) * 9); + int maxNumLines = bufferSizeInBytes/bytesPerLine-1; if (startingLineIndex >m_data->m_remoteDebugDrawer->m_lines2.size()) { b3Warning("m_startingLineIndex exceeds total number of debug lines"); @@ -1277,7 +1280,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } serverStatusOut.m_type = CMD_DEBUG_LINES_COMPLETED; - + serverStatusOut.m_numDataStreamBytes = numLines * bytesPerLine; serverStatusOut.m_sendDebugLinesArgs.m_numDebugLines = numLines; serverStatusOut.m_sendDebugLinesArgs.m_startingLineIndex = startingLineIndex; serverStatusOut.m_sendDebugLinesArgs.m_numRemainingDebugLines = m_data->m_remoteDebugDrawer->m_lines2.size()-(startingLineIndex+numLines); @@ -1327,6 +1330,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm float* depthBuffer = (float*)(bufferServerToClient+numRequestedPixels*4); int* segmentationMaskBuffer = (int*)(bufferServerToClient+numRequestedPixels*8); + serverStatusOut.m_numDataStreamBytes = numRequestedPixels * totalBytesPerPixel; + if ((clientCmd.m_updateFlags & ER_BULLET_HARDWARE_OPENGL)!=0) { m_data->m_guiHelper->copyCameraImageData(clientCmd.m_requestPixelDataArguments.m_viewMatrix, @@ -1368,6 +1373,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } serverStatusOut.m_type = CMD_CAMERA_IMAGE_COMPLETED; + serverStatusOut.m_sendPixelDataArguments.m_numPixelsCopied = numPixelsCopied; serverStatusOut.m_sendPixelDataArguments.m_numRemainingPixels = numRemainingPixels - numPixelsCopied; serverStatusOut.m_sendPixelDataArguments.m_startingPixelIndex = startPixelIndex; @@ -1386,7 +1392,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverStatusOut.m_type = CMD_BODY_INFO_COMPLETED; serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = sdfInfoArgs.m_bodyUniqueId; - serverStatusOut.m_dataStreamArguments.m_streamChunkLength = streamSizeInBytes; + serverStatusOut.m_numDataStreamBytes = streamSizeInBytes; + hasStatus = true; break; } @@ -1606,11 +1613,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld); serverStatusOut.m_type = CMD_URDF_LOADING_COMPLETED; - serverStatusOut.m_dataStreamArguments.m_streamChunkLength = 0; + if (m_data->m_urdfLinkNameMapper.size()) { - serverStatusOut.m_dataStreamArguments.m_streamChunkLength = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize(); + serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize(); } serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; hasStatus = true; @@ -2583,7 +2590,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendContactPointArgs.m_startingContactPointIndex = clientCmd.m_requestContactPointArguments.m_startingContactPointIndex; serverCmd.m_sendContactPointArgs.m_numRemainingContactPoints = numContactPoints - clientCmd.m_requestContactPointArguments.m_startingContactPointIndex - serverCmd.m_sendContactPointArgs.m_numContactPointsCopied; - + serverCmd.m_numDataStreamBytes = totalBytesPerContact * serverCmd.m_sendContactPointArgs.m_numContactPointsCopied; serverCmd.m_type = CMD_CONTACT_POINT_INFORMATION_COMPLETED; //CMD_CONTACT_POINT_INFORMATION_FAILED, hasStatus = true; break; @@ -3006,7 +3013,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1; serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex; serverCmd.m_sendVisualShapeArgs.m_bodyUniqueId = clientCmd.m_requestVisualShapeDataArguments.m_bodyUniqueId; - + serverCmd.m_numDataStreamBytes = sizeof(b3VisualShapeData)*serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied; serverCmd.m_type =CMD_VISUAL_SHAPE_INFO_COMPLETED; hasStatus = true; break; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index 2814d11dd..e271cdff6 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -3,6 +3,8 @@ #include "LinearMath/btVector3.h" +#include "PhysicsCommandProcessorInterface.h" + struct SharedMemLines { btVector3 m_from; @@ -10,8 +12,10 @@ struct SharedMemLines btVector3 m_color; }; + + ///todo: naming. Perhaps PhysicsSdkCommandprocessor? -class PhysicsServerCommandProcessor +class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface { struct PhysicsServerCommandProcessorInternalData* m_data; @@ -22,15 +26,15 @@ class PhysicsServerCommandProcessor protected: - - bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody); + + bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody); bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn, - bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes); + bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes); bool supportsJointMotor(class btMultiBody* body, int linkIndex); - + int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes); void deleteCachedInverseDynamicsBodies(); @@ -39,12 +43,30 @@ public: virtual ~PhysicsServerCommandProcessor(); void createJointMotors(class btMultiBody* body); - + virtual void createEmptyDynamicsWorld(); virtual void deleteDynamicsWorld(); - - virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes ); + virtual bool connect() + { + return true; + }; + + virtual void disconnect() {} + + virtual bool isConnected() const + { + return true; + } + + + + virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); + + virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) + { + return false; + }; virtual void renderScene(); virtual void physicsDebugDraw(int debugDrawFlags); diff --git a/examples/SharedMemory/SharedMemoryCommandProcessor.cpp b/examples/SharedMemory/SharedMemoryCommandProcessor.cpp new file mode 100644 index 000000000..406b9ae4f --- /dev/null +++ b/examples/SharedMemory/SharedMemoryCommandProcessor.cpp @@ -0,0 +1,216 @@ +#include "SharedMemoryCommandProcessor.h" + +#include "PosixSharedMemory.h" +#include "Win32SharedMemory.h" +#include "Bullet3Common/b3Logging.h" +#include "Bullet3Common/b3Scalar.h" + +#include "SharedMemoryBlock.h" + + +struct SharedMemoryCommandProcessorInternalData +{ + int m_sharedMemoryKey; + bool m_isConnected; + SharedMemoryInterface* m_sharedMemory; + bool m_ownsSharedMemory; + bool m_verboseOutput; + bool m_waitingForServer; + SharedMemoryStatus m_lastServerStatus; + SharedMemoryBlock* m_testBlock1; + + + SharedMemoryCommandProcessorInternalData() + :m_sharedMemoryKey(SHARED_MEMORY_KEY), + m_isConnected(false), + m_sharedMemory(0), + m_ownsSharedMemory(false), + m_verboseOutput(false), + m_waitingForServer(false), + m_testBlock1(0) + { + + } +}; + +SharedMemoryCommandProcessor::SharedMemoryCommandProcessor() +{ + m_data = new SharedMemoryCommandProcessorInternalData; + m_data->m_sharedMemoryKey = SHARED_MEMORY_KEY; +#ifdef _WIN32 + m_data->m_sharedMemory = new Win32SharedMemoryClient(); +#else + m_data->m_sharedMemory = new PosixSharedMemory(); +#endif + m_data->m_ownsSharedMemory = true; + + +} + +SharedMemoryCommandProcessor::~SharedMemoryCommandProcessor() +{ + if (m_data->m_isConnected) + { + disconnect(); + } + if (m_data->m_ownsSharedMemory) + { + delete m_data->m_sharedMemory; + } + delete m_data; + +} + +bool SharedMemoryCommandProcessor::connect() +{ + + if (m_data->m_isConnected) + return true; + + bool allowCreation = false; + m_data->m_testBlock1 = (SharedMemoryBlock*)m_data->m_sharedMemory->allocateSharedMemory( + m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE, allowCreation); + + if (m_data->m_testBlock1) { + if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) { + b3Error("Error: please start server before client\n"); + m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, + SHARED_MEMORY_SIZE); + m_data->m_testBlock1 = 0; + return false; + } + else { + if (m_data->m_verboseOutput) { + b3Printf("Connected to existing shared memory, status OK.\n"); + } + m_data->m_isConnected = true; + } + } + else { + b3Error("Cannot connect to shared memory"); + return false; + } + return true; + +} + +void SharedMemoryCommandProcessor::disconnect() +{ + if (m_data->m_isConnected && m_data->m_sharedMemory) + { + m_data->m_sharedMemory->releaseSharedMemory(m_data->m_sharedMemoryKey, SHARED_MEMORY_SIZE); + } + m_data->m_isConnected = false; + +} + +bool SharedMemoryCommandProcessor::isConnected() const +{ + return m_data->m_isConnected; +} + + +bool SharedMemoryCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) +{ + if (!m_data->m_waitingForServer) { + if (&m_data->m_testBlock1->m_clientCommands[0] != &clientCmd) { + m_data->m_testBlock1->m_clientCommands[0] = clientCmd; + } + m_data->m_testBlock1->m_numClientCommands++; + m_data->m_waitingForServer = true; + } + + return false; +} + +bool SharedMemoryCommandProcessor::receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) +{ + SharedMemoryStatus* stat = 0; + + m_data->m_lastServerStatus.m_dataStream = 0; + m_data->m_lastServerStatus.m_numDataStreamBytes = 0; + + if (!m_data->m_testBlock1) + { + //m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED; + //return &m_data->m_lastServerStatus; + //serverStatusOut = m_data->m_lastServerStatus; + return false; + } + + if (!m_data->m_waitingForServer) { + return false; + } + + if (m_data->m_testBlock1->m_magicId != SHARED_MEMORY_MAGIC_NUMBER) + { + //m_data->m_lastServerStatus.m_type = CMD_SHARED_MEMORY_NOT_INITIALIZED; + //return &m_data->m_lastServerStatus; + return false; + } + + if (m_data->m_testBlock1->m_numServerCommands > + m_data->m_testBlock1->m_numProcessedServerCommands) + { + b3Assert(m_data->m_testBlock1->m_numServerCommands == + m_data->m_testBlock1->m_numProcessedServerCommands + 1); + + const SharedMemoryStatus& serverCmd = m_data->m_testBlock1->m_serverCommands[0]; + m_data->m_lastServerStatus = serverCmd; + m_data->m_lastServerStatus.m_dataStream = m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor; + + for (int i = 0; i < m_data->m_lastServerStatus.m_numDataStreamBytes; i++) + { + bufferServerToClient[i] = m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[i]; + } + + m_data->m_testBlock1->m_numProcessedServerCommands++; + // we don't have more than 1 command outstanding (in total, either server or client) + b3Assert(m_data->m_testBlock1->m_numProcessedServerCommands == + m_data->m_testBlock1->m_numServerCommands); + + if (m_data->m_testBlock1->m_numServerCommands == + m_data->m_testBlock1->m_numProcessedServerCommands) { + m_data->m_waitingForServer = false; + } + else { + m_data->m_waitingForServer = true; + } + + serverStatusOut = m_data->m_lastServerStatus; + + return true; + } + return false; +} + +void SharedMemoryCommandProcessor::renderScene() +{ +} + +void SharedMemoryCommandProcessor::physicsDebugDraw(int debugDrawFlags) +{ +} + +void SharedMemoryCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiHelper) +{ +} + +void SharedMemoryCommandProcessor::setSharedMemoryInterface(class SharedMemoryInterface* sharedMem) +{ + if (m_data->m_sharedMemory && m_data->m_ownsSharedMemory) + { + delete m_data->m_sharedMemory; + } + m_data->m_ownsSharedMemory = false; + m_data->m_sharedMemory = sharedMem; + +} + + +void SharedMemoryCommandProcessor::setSharedMemoryKey(int key) +{ + m_data->m_sharedMemoryKey = key; +} + + diff --git a/examples/SharedMemory/SharedMemoryCommandProcessor.h b/examples/SharedMemory/SharedMemoryCommandProcessor.h new file mode 100644 index 000000000..bec9e614f --- /dev/null +++ b/examples/SharedMemory/SharedMemoryCommandProcessor.h @@ -0,0 +1,37 @@ +#ifndef SHARED_MEMORY_COMMAND_PROCESSOR_H +#define SHARED_MEMORY_COMMAND_PROCESSOR_H + +#include "PhysicsCommandProcessorInterface.h" + +class SharedMemoryCommandProcessor : public PhysicsCommandProcessorInterface +{ + + struct SharedMemoryCommandProcessorInternalData* m_data; + +public: + SharedMemoryCommandProcessor(); + + virtual ~SharedMemoryCommandProcessor(); + + virtual bool connect(); + + virtual void disconnect(); + + virtual bool isConnected() const; + + virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); + + virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes); + + virtual void renderScene(); + virtual void physicsDebugDraw(int debugDrawFlags); + virtual void setGuiHelper(struct GUIHelperInterface* guiHelper); + + void setSharedMemoryInterface(class SharedMemoryInterface* sharedMem); + void setSharedMemoryKey(int key); + + +}; + +#endif //SHARED_MEMORY_COMMAND_PROCESSOR_H + diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 0b7f325f8..3d58789bc 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -90,7 +90,6 @@ struct UrdfArgs struct BulletDataStreamArgs { char m_bulletFileName[MAX_FILENAME_LENGTH]; - int m_streamChunkLength; int m_bodyUniqueId; }; @@ -508,6 +507,10 @@ struct SharedMemoryStatus smUint64_t m_timeStamp; int m_sequenceNumber; + //m_streamBytes is only for internal purposes + int m_numDataStreamBytes; + char* m_dataStream; + union { struct BulletDataStreamArgs m_dataStreamArguments; diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua index 2215cfbe0..2bbf3b569 100644 --- a/examples/SharedMemory/premake4.lua +++ b/examples/SharedMemory/premake4.lua @@ -42,6 +42,14 @@ myfiles = "PhysicsLoopBack.h", "PhysicsLoopBackC_API.cpp", "PhysicsLoopBackC_API.h", + "PhysicsClientSharedMemory_C_API.cpp", + "PhysicsClientSharedMemory_C_API.h", + "PhysicsClientSharedMemory2_C_API.cpp", + "PhysicsClientSharedMemory2_C_API.h", + "PhysicsClientSharedMemory2.cpp", + "PhysicsClientSharedMemory2.h", + "SharedMemoryCommandProcessor.cpp", + "SharedMemoryCommandProcessor.h", "PhysicsServerCommandProcessor.cpp", "PhysicsServerCommandProcessor.h", "TinyRendererVisualShapeConverter.cpp", @@ -288,4 +296,7 @@ if os.is("Windows") then end -end \ No newline at end of file +end + + +include "udp" diff --git a/examples/SharedMemory/udp/main.cpp b/examples/SharedMemory/udp/main.cpp new file mode 100644 index 000000000..d653b34fd --- /dev/null +++ b/examples/SharedMemory/udp/main.cpp @@ -0,0 +1,187 @@ +/* server.cpp */ +#include +#include +#include "SharedMemoryCommandProcessor.h" +#include "SharedMemoryCommands.h" +#include "Bullet3Common/b3AlignedObjectArray.h" +#include "PhysicsServerCommandProcessor.h" + +void MySerializeInt(unsigned int sz, unsigned char* output) +{ + unsigned int tmp = sz; + output[0] = tmp & 255; + tmp = tmp >> 8; + output[1] = tmp & 255; + tmp = tmp >> 8; + output[2] = tmp & 255; + tmp = tmp >> 8; + output[3] = tmp & 255; +} + + + +int main(int argc, char *argv[]) +{ + unsigned char buf[4]; + + + SharedMemoryCommandProcessor* sm = new SharedMemoryCommandProcessor; + +// PhysicsDirect* sm = new PhysicsDirect(sdk); + + //PhysicsClientSharedMemory* sm = new PhysicsClientSharedMemory(); + + bool isPhysicsClientConnected = sm->connect(); + + if (isPhysicsClientConnected) + { + + ENetAddress address; + ENetHost *server; + ENetEvent event; + int serviceResult; + + puts("Starting server"); + + if (enet_initialize() != 0) + { + puts("Error initialising enet"); + exit(EXIT_FAILURE); + } + + + /* Bind the server to the default localhost. */ + /* A specific host address can be specified by */ + /* enet_address_set_host (& address, "x.x.x.x"); */ + address.host = ENET_HOST_ANY; + /* Bind the server to port 1234. */ + address.port = 1234; + + server = enet_host_create(&address, + 32, /* number of clients */ + 2, /* number of channels */ + 0, /* Any incoming bandwith */ + 0); /* Any outgoing bandwith */ + + if (server == NULL) + { + puts("Could not create server host"); + exit(EXIT_FAILURE); + } + + + while (true) + { + serviceResult = 1; + + /* Keep doing host_service until no events are left */ + while (serviceResult > 0) + { + /* Wait up to 1000 milliseconds for an event. */ + serviceResult = enet_host_service(server, &event, 0); + if (serviceResult > 0) + { + + switch (event.type) + { + case ENET_EVENT_TYPE_CONNECT: + printf("A new client connected from %x:%u.\n", + event.peer->address.host, + event.peer->address.port); + + /* Store any relevant client information here. */ + event.peer->data = (void*)"Client information"; + + break; + + case ENET_EVENT_TYPE_RECEIVE: + printf("A packet of length %u containing '%s' was " + "received from %s on channel %u.\n", + event.packet->dataLength, + event.packet->data, + event.peer->data, + event.channelID); + + if (event.packet->dataLength == sizeof(SharedMemoryCommand)) + { + SharedMemoryCommand* cmdPtr = (SharedMemoryCommand*)event.packet->data; + SharedMemoryStatus serverStatus; + b3AlignedObjectArray buffer; + buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + + bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size()); + + int timeout = 1024 * 1024 * 1024; + while ((!hasStatus) && (timeout-- > 0)) + { + hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size()); + + } + printf("buffer.size = %d\n", buffer.size()); + printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes); + if (hasStatus) + { + //create packetData with [int packetSizeInBytes, status, streamBytes) + unsigned char* statBytes = (unsigned char*)&serverStatus; + b3AlignedObjectArray packetData; + packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes); + int sz = packetData.size(); + int curPos = 0; + + MySerializeInt(sz, &packetData[curPos]); + curPos += 4; + for (int i = 0; i < sizeof(SharedMemoryStatus); i++) + { + packetData[i + curPos] = statBytes[i]; + } + curPos += sizeof(SharedMemoryStatus); + + for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++) + { + packetData[i + curPos] = serverStatus.m_dataStream[i]; + } + + ENetPacket *packet = enet_packet_create(&packetData[0], packetData.size() , ENET_PACKET_FLAG_RELIABLE); + //enet_peer_send(peer, 0, packet); + + enet_host_broadcast(server, 0, packet); + } + } + else + { + printf("received packet with unknown contents\n"); + } + + + /* Tell all clients about this message */ + //enet_host_broadcast(server, 0, event.packet); + + break; + + case ENET_EVENT_TYPE_DISCONNECT: + printf("%s disconnected.\n", event.peer->data); + + /* Reset the peer's client information. */ + + event.peer->data = NULL; + + break; + } + } + else if (serviceResult > 0) + { + puts("Error with servicing the server"); + exit(EXIT_FAILURE); + } + } + + } + + enet_host_destroy(server); + enet_deinitialize(); + } + delete sm; + + return 0; + +} diff --git a/examples/SharedMemory/udp/premake4.lua b/examples/SharedMemory/udp/premake4.lua new file mode 100644 index 000000000..852dfc638 --- /dev/null +++ b/examples/SharedMemory/udp/premake4.lua @@ -0,0 +1,46 @@ + +project ("App_PhysicsServerUDP") + + language "C++" + + kind "ConsoleApp" + + includedirs {"../../ThirdPartyLibs/enet/include","../../../src",".."} + + if os.is("Windows") then + defines { "WIN32" } + + links {"Ws2_32","Winmm"} + end + if os.is("Linux") then + end + if os.is("MacOSX") then + end + + + links { + "enet", + "BulletFileLoader", + "Bullet3Common", + "LinearMath" + } + + files { + "main.cpp", + "../PhysicsClient.cpp", + "../PhysicsClient.h", + "../PhysicsDirect.cpp", + "../PhysicsDirect.h", + "../PhysicsCommandProcessorInterface.h", + "../SharedMemoryCommandProcessor.cpp", + "../SharedMemoryCommandProcessor.h", + "../PhysicsClientC_API.cpp", + "../PhysicsClientC_API.h", + "../Win32SharedMemory.cpp", + "../Win32SharedMemory.h", + "../PosixSharedMemory.cpp", + "../PosixSharedMemory.h", + "../../Utils/b3ResourcePath.cpp", + "../../Utils/b3ResourcePath.h", + } + diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp index 89b8cfe29..52b1574f3 100644 --- a/examples/StandaloneMain/hellovr_opengl_main.cpp +++ b/examples/StandaloneMain/hellovr_opengl_main.cpp @@ -844,13 +844,13 @@ void CMainApplication::RenderFrame() // happen right before and after the vsync causing all kinds of jittering issues. This glFinish() // appears to clear that up. Temporary fix while I try to get nvidia to investigate this problem. // 1/29/2014 mikesart - glFinish(); + //glFinish(); } // SwapWindow { B3_PROFILE("m_app->swapBuffer"); - m_app->swapBuffer(); +// m_app->swapBuffer(); //SDL_GL_SwapWindow( m_pWindow ); } diff --git a/examples/ThirdPartyLibs/enet/premake4.lua b/examples/ThirdPartyLibs/enet/premake4.lua index 522db3431..05390e766 100644 --- a/examples/ThirdPartyLibs/enet/premake4.lua +++ b/examples/ThirdPartyLibs/enet/premake4.lua @@ -14,8 +14,7 @@ files{"unix.c"} end - targetdir "../../../lib" - + includedirs { ".","include" } diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt index dbac56750..ccde6a85e 100644 --- a/examples/pybullet/CMakeLists.txt +++ b/examples/pybullet/CMakeLists.txt @@ -3,6 +3,7 @@ INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/examples ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs + ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include ${PYTHON_INCLUDE_DIRS} ) IF(BUILD_PYBULLET_NUMPY) @@ -16,7 +17,7 @@ SET(pybullet_SRCS ../../examples/SharedMemory/IKTrajectoryHelper.cpp ../../examples/SharedMemory/IKTrajectoryHelper.h ../../examples/ExampleBrowser/InProcessExampleBrowser.cpp - ../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp + ../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp ../../examples/SharedMemory/TinyRendererVisualShapeConverter.h ../../examples/OpenGLWindow/SimpleCamera.cpp ../../examples/OpenGLWindow/SimpleCamera.h @@ -42,6 +43,9 @@ SET(pybullet_SRCS ../../examples/SharedMemory/PhysicsServerCommandProcessor.h ../../examples/SharedMemory/PhysicsClientSharedMemory.cpp ../../examples/SharedMemory/PhysicsClientSharedMemory.h + ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp + ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h + ../../examples/SharedMemory/PhysicsClientC_API.cpp ../../examples/SharedMemory/PhysicsClientC_API.h ../../examples/SharedMemory/Win32SharedMemory.cpp @@ -69,20 +73,55 @@ SET(pybullet_SRCS ../../examples/MultiThreading/b3PosixThreadSupport.cpp ../../examples/MultiThreading/b3Win32ThreadSupport.cpp ../../examples/MultiThreading/b3ThreadSupportInterface.cpp + ) IF(WIN32) -LINK_LIBRARIES( + LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} ) - + IF(BUILD_PYBULLET_ENET) + ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET) + ENDIF(BUILD_PYBULLET_ENET) ENDIF(WIN32) -ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS}) + +IF(BUILD_PYBULLET_ENET) + ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS} + ../../examples/SharedMemory/PhysicsClientUDP.cpp + ../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp + ../../examples/SharedMemory/PhysicsClientUDP.h + ../../examples/SharedMemory/PhysicsClientUDP_C_API.h + ../../examples/ThirdPartyLibs/enet/win32.c + ../../examples/ThirdPartyLibs/enet/unix.c + ../../examples/ThirdPartyLibs/enet/callbacks.c + ../../examples/ThirdPartyLibs/enet/compress.c + ../../examples/ThirdPartyLibs/enet/host.c + ../../examples/ThirdPartyLibs/enet/list.c + ../../examples/ThirdPartyLibs/enet/packet.c + ../../examples/ThirdPartyLibs/enet/peer.c + ../../examples/ThirdPartyLibs/enet/protocol.c + ) +ELSE(BUILD_PYBULLET_ENET) + ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS}) +ENDIF(BUILD_PYBULLET_ENET) SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION}) SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION}) - -TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${PYTHON_LIBRARIES}) +SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d") + + +IF(WIN32) + IF(BUILD_PYBULLET_ENET) + TARGET_LINK_LIBRARIES(pybullet ws2_32 ) + ENDIF(BUILD_PYBULLET_ENET) + + SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" ) +ENDIF(WIN32) + + + + +TARGET_LINK_LIBRARIES(pybullet ws2_32 BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${PYTHON_LIBRARIES}) diff --git a/examples/pybullet/premake4.lua b/examples/pybullet/premake4.lua index 6f684a331..86ed39611 100644 --- a/examples/pybullet/premake4.lua +++ b/examples/pybullet/premake4.lua @@ -33,12 +33,37 @@ project ("pybullet") } end +if not _OPTIONS["no-enet"] then + + includedirs {"../../examples/ThirdPartyLibs/enet/include"} + + if os.is("Windows") then + defines { "WIN32" } + links {"Ws2_32","Winmm"} + end + if os.is("Linux") then + end + if os.is("MacOSX") then + end + + links {"enet"} + + files { + "../../examples/SharedMemory/PhysicsClientUDP.cpp", + "../../examples/SharedMemory/PhysicsClientUDP.h", + "../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp", + "../../examples/SharedMemory/PhysicsClientUDP_C_API.h", + } + defines {"BT_ENABLE_ENET"} + end + + files { "pybullet.c", "../../examples/SharedMemory/IKTrajectoryHelper.cpp", "../../examples/SharedMemory/IKTrajectoryHelper.h", "../../examples/ExampleBrowser/InProcessExampleBrowser.cpp", - "../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp", + "../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp", "../../examples/SharedMemory/TinyRendererVisualShapeConverter.h", "../../examples/OpenGLWindow/SimpleCamera.cpp", "../../examples/OpenGLWindow/SimpleCamera.h", @@ -64,6 +89,8 @@ project ("pybullet") "../../examples/SharedMemory/PhysicsServerCommandProcessor.h", "../../examples/SharedMemory/PhysicsClientSharedMemory.cpp", "../../examples/SharedMemory/PhysicsClientSharedMemory.h", + "../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp", + "../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h", "../../examples/SharedMemory/PhysicsClientC_API.cpp", "../../examples/SharedMemory/PhysicsClientC_API.h", "../../examples/SharedMemory/Win32SharedMemory.cpp", diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 744340f1e..394ddc6a3 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1,7 +1,9 @@ #include "../SharedMemory/PhysicsClientC_API.h" #include "../SharedMemory/PhysicsDirectC_API.h" #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h" - +#ifdef BT_ENABLE_ENET +#include "../SharedMemory/PhysicsClientUDP_C_API.h" +#endif //BT_ENABLE_ENET #ifdef __APPLE__ #include @@ -22,6 +24,7 @@ enum eCONNECT_METHOD { eCONNECT_GUI = 1, eCONNECT_DIRECT = 2, eCONNECT_SHARED_MEMORY = 3, + eCONNECT_UDP = 4, }; static PyObject* SpamError; @@ -60,8 +63,8 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args) { int method = eCONNECT_GUI; if (!PyArg_ParseTuple(args, "i", &method)) { PyErr_SetString(SpamError, - "connectPhysicsServer expected argument eCONNECT_GUI, " - "eCONNECT_DIRECT or eCONNECT_SHARED_MEMORY"); + "connectPhysicsServer expected argument GUI, " + "DIRECT, SHARED_MEMORY or UDP"); return NULL; } @@ -85,6 +88,18 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args) { sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY); break; } + case eCONNECT_UDP: + { +#ifdef BT_ENABLE_ENET + + sm = b3ConnectPhysicsUDP("localhost", 1234); +#else + PyErr_SetString(SpamError, "UDP is not enabled in this pybullet build"); + return NULL; +#endif //BT_ENABLE_ENET + + break; + } default: { PyErr_SetString(SpamError, "connectPhysicsServer unexpected argument"); @@ -2401,6 +2416,8 @@ initpybullet(void) eCONNECT_SHARED_MEMORY); // user read PyModule_AddIntConstant(m, "DIRECT", eCONNECT_DIRECT); // user read PyModule_AddIntConstant(m, "GUI", eCONNECT_GUI); // user read + PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP); // user read + PyModule_AddIntConstant(m, "TORQUE_CONTROL", CONTROL_MODE_TORQUE); PyModule_AddIntConstant(m, "VELOCITY_CONTROL", diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt index 8ece789cc..52297594c 100644 --- a/test/SharedMemory/CMakeLists.txt +++ b/test/SharedMemory/CMakeLists.txt @@ -41,7 +41,10 @@ ENDIF() ../../examples/SharedMemory/PhysicsServerCommandProcessor.h ../../examples/SharedMemory/PhysicsClientSharedMemory.cpp ../../examples/SharedMemory/PhysicsClientSharedMemory.h - ../../examples/SharedMemory/PhysicsClientC_API.cpp + ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp + ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h + + ../../examples/SharedMemory/PhysicsClientC_API.cpp ../../examples/SharedMemory/PhysicsClientC_API.h ../../examples/SharedMemory/PhysicsLoopBack.cpp ../../examples/SharedMemory/PhysicsLoopBack.h diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua index 1974ba471..ca48cfea0 100644 --- a/test/SharedMemory/premake4.lua +++ b/test/SharedMemory/premake4.lua @@ -17,6 +17,8 @@ project ("Test_SharedMemoryPhysicsClient") "../../examples/SharedMemory/PhysicsClient.h", "../../examples/SharedMemory/PhysicsClientSharedMemory.cpp", "../../examples/SharedMemory/PhysicsClientSharedMemory.h", + "../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp", + "../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h", "../../examples/SharedMemory/PhysicsClientC_API.cpp", "../../examples/SharedMemory/PhysicsClientC_API.h", "../../examples/SharedMemory/Win32SharedMemory.cpp", diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c index c366ab3a5..a1a6591d8 100644 --- a/test/SharedMemory/test.c +++ b/test/SharedMemory/test.c @@ -3,6 +3,10 @@ #include "SharedMemory/PhysicsClientC_API.h" #endif //PHYSICS_SHARED_MEMORY +#ifdef PHYSICS_UDP +#include "SharedMemory/PhysicsClientUDP_C_API.h" +#endif//PHYSICS_UDP + #ifdef PHYSICS_LOOP_BACK #include "SharedMemory/PhysicsLoopBackC_API.h" #endif //PHYSICS_LOOP_BACK @@ -224,7 +228,7 @@ void testSharedMemory(b3PhysicsClientHandle sm) #endif } ///perform some simulation steps for testing - for ( i=0;i<100;i++) + for ( i=0;i<10000;i++) { b3SharedMemoryStatusHandle statusHandle; int statusType; @@ -319,11 +323,17 @@ int main(int argc, char* argv[]) b3PhysicsClientHandle sm = b3CreateInProcessPhysicsServerAndConnect(argc,argv); #endif //__APPLE__ #endif + #ifdef PHYSICS_SHARED_MEMORY b3PhysicsClientHandle sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY); #endif //PHYSICS_SHARED_MEMORY +#ifdef PHYSICS_UDP + b3PhysicsClientHandle sm = b3ConnectPhysicsUDP("localhost",1234); +#endif //PHYSICS_UDP + testSharedMemory(sm); } #endif + diff --git a/test/enet/chat/client/main.cpp b/test/enet/chat/client/main.cpp new file mode 100644 index 000000000..59565f464 --- /dev/null +++ b/test/enet/chat/client/main.cpp @@ -0,0 +1,165 @@ + +/* client.cpp */ +#include +#include +#include + + +int main(int argc, char* argv[]) { + ENetHost *client; + ENetAddress address; + ENetPeer *peer; + ENetEvent event; + char message[1024]; + int serviceResult; + + puts("Starting client"); + + if (enet_initialize() != 0) { + fprintf(stderr, "Error initialising enet"); + exit(EXIT_FAILURE); + + } + + client = enet_host_create(NULL, /* create a client host */ + 1, /* number of clients */ + 2, /* number of channels */ + 57600 / 8, /* incoming bandwith */ + 14400 / 8); /* outgoing bandwith */ + + if (client == NULL) { + fprintf(stderr, "Could not create client host"); + exit(EXIT_FAILURE); + + } + + + enet_address_set_host(&address, "localhost"); + address.port = 1234; + + peer = enet_host_connect(client, + &address, /* address to connect to */ + 2, /* number of channels */ + 0); /* user data supplied to + the receiving host */ + + if (peer == NULL) { + fprintf(stderr, "No available peers for initiating an ENet " + "connection.\n"); + exit(EXIT_FAILURE); + + } + + + /* Try to connect to server within 5 seconds */ + if (enet_host_service(client, &event, 5000) > 0 && + event.type == ENET_EVENT_TYPE_CONNECT) + { + puts("Connection to server succeeded."); + } + else + { + /* Either the 5 seconds are up or a disconnect event was */ + /* received. Reset the peer in the event the 5 seconds */ + /* had run out without any significant event. */ + enet_peer_reset(peer); + + fprintf(stderr, "Connection to server failed."); + exit(EXIT_FAILURE); + } + + while (true) + { + serviceResult = 1; + + /* Keep doing host_service until no events are left */ + while (serviceResult > 0) + { + serviceResult = enet_host_service(client, &event, 0); + + if (serviceResult > 0) + { + switch (event.type) + { + case ENET_EVENT_TYPE_CONNECT: + printf("A new client connected from %x:%u.\n", + event.peer->address.host, + event.peer->address.port); + + event.peer->data = (void*)"New User"; + break; + + case ENET_EVENT_TYPE_RECEIVE: + printf("A packet of length %u containing '%s' was " + "received from %s on channel %u.\n", + event.packet->dataLength, + event.packet->data, + event.peer->data, + event.channelID); + + /* Clean up the packet now that we're done using it. + > */ + enet_packet_destroy(event.packet); + + break; + + case ENET_EVENT_TYPE_DISCONNECT: + printf("%s disconected.\n", event.peer->data); + + break; + } + } + else if (serviceResult > 0) + { + puts("Error with servicing the client"); + exit(EXIT_FAILURE); + } + + } + + + printf("Say> "); + gets_s(message, 1024); + + if (strcmp(message, "exit") == 0 || + strcmp(message, "quit") == 0) { + break; + + } + + if (strlen(message) > 0) { + ENetPacket *packet = enet_packet_create(message, strlen + (message) + 1, ENET_PACKET_FLAG_RELIABLE); + enet_peer_send(peer, 0, packet); + + } + + } + + enet_peer_disconnect(peer, 0); + + /* Allow up to 3 seconds for the disconnect to succeed */ + /* and drop any packets received packets */ + while (enet_host_service(client, &event, 3000) > 0) + { + + switch (event.type) + { + case ENET_EVENT_TYPE_RECEIVE: + enet_packet_destroy(event.packet); + break; + + case ENET_EVENT_TYPE_DISCONNECT: + puts("Disconnection succeeded."); + break; + } + } + + + enet_host_destroy(client); + enet_deinitialize(); + + return 0; + + +} diff --git a/test/enet/client/premake4.lua b/test/enet/chat/client/premake4.lua similarity index 70% rename from test/enet/client/premake4.lua rename to test/enet/chat/client/premake4.lua index 2a2327f24..24a71d6df 100644 --- a/test/enet/client/premake4.lua +++ b/test/enet/chat/client/premake4.lua @@ -1,12 +1,12 @@ -project ("Test_enet_client") +project ("Test_enet_chat_client") language "C++" kind "ConsoleApp" - includedirs {"../../../examples/ThirdPartyLibs/enet/include"} + includedirs {"../../../../examples/ThirdPartyLibs/enet/include"} if os.is("Windows") then defines { "WIN32" } diff --git a/test/enet/chat/server/main.cpp b/test/enet/chat/server/main.cpp new file mode 100644 index 000000000..cc15bd6a6 --- /dev/null +++ b/test/enet/chat/server/main.cpp @@ -0,0 +1,103 @@ +/* server.cpp */ +#include +#include + +int main(int argc, char *argv[]) +{ + ENetAddress address; + ENetHost *server; + ENetEvent event; + int serviceResult; + + puts("Starting server"); + + if (enet_initialize() != 0) + { + puts("Error initialising enet"); + exit(EXIT_FAILURE); + } + + + /* Bind the server to the default localhost. */ + /* A specific host address can be specified by */ + /* enet_address_set_host (& address, "x.x.x.x"); */ + address.host = ENET_HOST_ANY; + /* Bind the server to port 1234. */ + address.port = 1234; + + server = enet_host_create(&address, + 32, /* number of clients */ + 2, /* number of channels */ + 0, /* Any incoming bandwith */ + 0); /* Any outgoing bandwith */ + + if (server == NULL) + { + puts("Could not create server host"); + exit(EXIT_FAILURE); + } + + + while (true) + { + serviceResult = 1; + + /* Keep doing host_service until no events are left */ + while (serviceResult > 0) + { + /* Wait up to 1000 milliseconds for an event. */ + serviceResult = enet_host_service(server, &event, 1000); + + if (serviceResult > 0) + { + + switch (event.type) + { + case ENET_EVENT_TYPE_CONNECT: + printf("A new client connected from %x:%u.\n", + event.peer->address.host, + event.peer->address.port); + + /* Store any relevant client information here. */ + event.peer->data = (void*)"Client information"; + + break; + + case ENET_EVENT_TYPE_RECEIVE: + printf("A packet of length %u containing '%s' was " + "received from %s on channel %u.\n", + event.packet->dataLength, + event.packet->data, + event.peer->data, + event.channelID); + + /* Tell all clients about this message */ + enet_host_broadcast(server, 0, event.packet); + + break; + + case ENET_EVENT_TYPE_DISCONNECT: + printf("%s disconected.\n", event.peer->data); + + /* Reset the peer's client information. */ + + event.peer->data = NULL; + + break; + } + } + else if (serviceResult > 0) + { + puts("Error with servicing the server"); + exit(EXIT_FAILURE); + } + } + + } + + enet_host_destroy(server); + enet_deinitialize(); + + return 0; + +} diff --git a/test/enet/server/premake4.lua b/test/enet/chat/server/premake4.lua similarity index 70% rename from test/enet/server/premake4.lua rename to test/enet/chat/server/premake4.lua index 50f1c9b16..2069c2f01 100644 --- a/test/enet/server/premake4.lua +++ b/test/enet/chat/server/premake4.lua @@ -1,12 +1,12 @@ -project ("Test_enet_server") +project ("Test_enet_chat_server") language "C++" kind "ConsoleApp" - includedirs {"../../../examples/ThirdPartyLibs/enet/include"} + includedirs {"../../../../examples/ThirdPartyLibs/enet/include"} if os.is("Windows") then defines { "WIN32" } diff --git a/test/enet/client/main.cpp b/test/enet/nat_punchthrough/client/main.cpp similarity index 100% rename from test/enet/client/main.cpp rename to test/enet/nat_punchthrough/client/main.cpp diff --git a/test/enet/nat_punchthrough/client/premake4.lua b/test/enet/nat_punchthrough/client/premake4.lua new file mode 100644 index 000000000..feabb3429 --- /dev/null +++ b/test/enet/nat_punchthrough/client/premake4.lua @@ -0,0 +1,25 @@ + + +project ("Test_enet_nat_punchthrough_client") + + language "C++" + + kind "ConsoleApp" + + includedirs {"../../../../examples/ThirdPartyLibs/enet/include"} + + if os.is("Windows") then + defines { "WIN32" } + links {"Ws2_32","Winmm"} + end + if os.is("Linux") then + end + if os.is("MacOSX") then + end + + links {"enet"} + + files { + "main.cpp", + } + diff --git a/test/enet/server/main.cpp b/test/enet/nat_punchthrough/server/main.cpp similarity index 100% rename from test/enet/server/main.cpp rename to test/enet/nat_punchthrough/server/main.cpp diff --git a/test/enet/nat_punchthrough/server/premake4.lua b/test/enet/nat_punchthrough/server/premake4.lua new file mode 100644 index 000000000..2d8f4b7a8 --- /dev/null +++ b/test/enet/nat_punchthrough/server/premake4.lua @@ -0,0 +1,26 @@ + + +project ("Test_enet_nat_punchthrough_server") + + language "C++" + + kind "ConsoleApp" + + includedirs {"../../../../examples/ThirdPartyLibs/enet/include"} + + if os.is("Windows") then + defines { "WIN32" } + + links {"Ws2_32","Winmm"} + end + if os.is("Linux") then + end + if os.is("MacOSX") then + end + + links {"enet"} + + files { + "main.cpp", + } + From d62ac01d14fc9d6276b0ba1967491d05f844d194 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 4 Nov 2016 13:16:25 -0700 Subject: [PATCH 013/102] work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever) --- CMakeLists.txt | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index acc474da3..d34ff9ab2 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -211,7 +211,8 @@ IF(BUILD_PYBULLET) FIND_PACKAGE(PythonLibs) OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF) - + OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON) + IF(BUILD_PYBULLET_NUMPY) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake) #include(FindNumPy) From 0ffd68ac32deaa1e9a05bde06ecff9ad391543f8 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 4 Nov 2016 13:36:45 -0700 Subject: [PATCH 014/102] fixes in Linux build if pybullet with enet/UDP --- examples/pybullet/CMakeLists.txt | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt index ccde6a85e..8d95cc67e 100644 --- a/examples/pybullet/CMakeLists.txt +++ b/examples/pybullet/CMakeLists.txt @@ -83,6 +83,10 @@ IF(WIN32) IF(BUILD_PYBULLET_ENET) ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET) ENDIF(BUILD_PYBULLET_ENET) +ELSE(WIN32) + IF(BUILD_PYBULLET_ENET) + ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET) + ENDIF(BUILD_PYBULLET_ENET) ENDIF(WIN32) @@ -122,6 +126,6 @@ ENDIF(WIN32) -TARGET_LINK_LIBRARIES(pybullet ws2_32 BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${PYTHON_LIBRARIES}) +TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common ${PYTHON_LIBRARIES}) From 5d66ce20e0d8dfec2ad03aa331155347405205f0 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 4 Nov 2016 17:06:55 -0700 Subject: [PATCH 015/102] network UDP: transmit structural DNA to deal with version/platform differences. pybullet: allow to specify shared memory key and hostname/port for UDP. --- examples/SharedMemory/PhysicsDirect.cpp | 51 ++++++++++++++++++- .../PhysicsServerCommandProcessor.cpp | 22 ++++++++ examples/SharedMemory/SharedMemoryPublic.h | 3 ++ examples/pybullet/pybullet.c | 49 +++++++++++++++--- src/LinearMath/btSerializer.h | 20 ++++++++ 5 files changed, 135 insertions(+), 10 deletions(-) diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index 8b21eeaa3..f513aaeaa 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -23,6 +23,7 @@ struct PhysicsDirectInternalData { DummyGUIHelper m_noGfx; + btAlignedObjectArray m_serverDNA; SharedMemoryCommand m_command; SharedMemoryStatus m_serverStatus; bool m_hasStatus; @@ -83,6 +84,31 @@ bool PhysicsDirect::connect() { bool connected = m_data->m_commandProcessor->connect(); m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx); + + + //also request serialization data + { + SharedMemoryCommand command; + command.m_type = CMD_REQUEST_INTERNAL_DATA; + bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + if (hasStatus) + { + postProcessStatus(m_data->m_serverStatus); + } + else + { + int timeout = 1024 * 1024 * 1024; + while ((!hasStatus) && (timeout-- > 0)) + { + const SharedMemoryStatus* stat = processServerStatus(); + if (stat) + { + hasStatus = true; + } + } + } + } + return connected; } @@ -444,7 +470,14 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta bParse::btBulletFile bf( &m_data->m_bulletStreamDataServerToClient[0], serverCmd.m_numDataStreamBytes); - bf.setFileDNAisMemoryDNA(); + if (m_data->m_serverDNA.size()) + { + bf.setFileDNA(false, &m_data->m_serverDNA[0], m_data->m_serverDNA.size()); + } + else + { + bf.setFileDNAisMemoryDNA(); + } bf.parse(false); BodyJointInfoCache2* bodyJoints = new BodyJointInfoCache2; @@ -469,7 +502,8 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); } } - if (bf.ok()) { + if (bf.ok()) + { if (m_data->m_verboseOutput) { b3Printf("Received robot description ok!\n"); @@ -484,6 +518,19 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd { switch (serverCmd.m_type) { + case CMD_REQUEST_INTERNAL_DATA_COMPLETED: + { + if (serverCmd.m_numDataStreamBytes) + { + int numStreamBytes = serverCmd.m_numDataStreamBytes; + m_data->m_serverDNA.resize(numStreamBytes); + for (int i = 0; i < numStreamBytes; i++) + { + m_data->m_serverDNA[i] = m_data->m_bulletStreamDataServerToClient[i]; + } + } + break; + } case CMD_RESET_SIMULATION_COMPLETED: { m_data->m_debugLinesFrom.clear(); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index c6f0cf2cb..4df28832c 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2178,6 +2178,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } + case CMD_REQUEST_INTERNAL_DATA: + { + //todo: also check version etc? + + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_FAILED; + hasStatus = true; + + int sz = btDefaultSerializer::getMemoryDnaSizeInBytes(); + const char* memDna = btDefaultSerializer::getMemoryDna(); + if (sz < bufferSizeInBytes) + { + for (int i = 0; i < bufferSizeInBytes; i++) + { + bufferServerToClient[i] = memDna[i]; + } + serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_COMPLETED; + serverCmd.m_numDataStreamBytes = bufferSizeInBytes; + } + + break; + }; case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: { if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DELTA_TIME) diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index b435a38a5..7b0a967bc 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -21,6 +21,7 @@ enum EnumSharedMemoryClientCommand CMD_REQUEST_ACTUAL_STATE, CMD_REQUEST_DEBUG_LINES, CMD_REQUEST_BODY_INFO, + CMD_REQUEST_INTERNAL_DATA, CMD_STEP_FORWARD_SIMULATION, CMD_RESET_SIMULATION, CMD_PICK_BODY, @@ -54,6 +55,8 @@ enum EnumSharedMemoryServerStatus CMD_SDF_LOADING_FAILED, CMD_URDF_LOADING_COMPLETED, CMD_URDF_LOADING_FAILED, + CMD_REQUEST_INTERNAL_DATA_COMPLETED, + CMD_REQUEST_INTERNAL_DATA_FAILED, CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED, CMD_BULLET_DATA_STREAM_RECEIVED_FAILED, CMD_BOX_COLLISION_SHAPE_CREATION_COMPLETED, diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index ec69952a6..af8eacdf7 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -61,12 +61,45 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args) { { int method = eCONNECT_GUI; - if (!PyArg_ParseTuple(args, "i", &method)) { - PyErr_SetString(SpamError, - "connectPhysicsServer expected argument GUI, " - "DIRECT, SHARED_MEMORY or UDP"); - return NULL; - } + int key = SHARED_MEMORY_KEY; + int port = 1234; + const char* hostName = "localhost"; + + int size = PySequence_Size(args); + if (size == 1) + { + if (!PyArg_ParseTuple(args, "i", &method)) { + PyErr_SetString(SpamError, + "connectPhysicsServer expected argument GUI, " + "DIRECT, SHARED_MEMORY or UDP"); + return NULL; + } + } + + if (size == 2) + { + if (!PyArg_ParseTuple(args, "ii", &method, &key)) + { + if (!PyArg_ParseTuple(args, "is", &method, &hostName)) + { + PyErr_SetString(SpamError, + "connectPhysicsServer cannot parse second argument (either integer or string)"); + return NULL; + + } + } + } + + if (size == 3) + { + if (!PyArg_ParseTuple(args, "isi", &method, &hostName, &port)) + { + PyErr_SetString(SpamError, + "connectPhysicsServer 3 arguments: method, hostname, port"); + return NULL; + } + } + switch (method) { case eCONNECT_GUI: { @@ -85,14 +118,14 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args) { break; } case eCONNECT_SHARED_MEMORY: { - sm = b3ConnectSharedMemory(SHARED_MEMORY_KEY); + sm = b3ConnectSharedMemory(key); break; } case eCONNECT_UDP: { #ifdef BT_ENABLE_ENET - sm = b3ConnectPhysicsUDP("localhost", 1234); + sm = b3ConnectPhysicsUDP(hostName, port); #else PyErr_SetString(SpamError, "UDP is not enabled in this pybullet build"); return NULL; diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h index 454068d6a..424e0b99c 100644 --- a/src/LinearMath/btSerializer.h +++ b/src/LinearMath/btSerializer.h @@ -446,6 +446,26 @@ public: btAlignedFree(m_dna); } + static int getMemoryDnaSizeInBytes() + { + const bool VOID_IS_8 = ((sizeof(void*) == 8)); + + if (VOID_IS_8) + { + return sBulletDNAlen64; + } + return sBulletDNAlen; + } + static const char* getMemoryDna() + { + const bool VOID_IS_8 = ((sizeof(void*) == 8)); + if (VOID_IS_8) + { + return (const char*)sBulletDNAstr64; + } + return (const char*)sBulletDNAstr; + } + void insertHeader() { writeHeader(m_buffer); From cf21da4c9d42448841948f41fbbdab069a57df38 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 4 Nov 2016 17:44:16 -0700 Subject: [PATCH 016/102] fix a few issues in UDP networking --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- examples/SharedMemory/SharedMemoryCommands.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 4df28832c..763156d86 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2195,7 +2195,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm bufferServerToClient[i] = memDna[i]; } serverCmd.m_type = CMD_REQUEST_INTERNAL_DATA_COMPLETED; - serverCmd.m_numDataStreamBytes = bufferSizeInBytes; + serverCmd.m_numDataStreamBytes = sz; } break; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 2cfadeaa7..8680acd18 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -24,7 +24,7 @@ typedef unsigned long long int smUint64_t; #endif -#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (256*1024) +#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512*1024) #define SHARED_MEMORY_SERVER_TEST_C #define MAX_DEGREE_OF_FREEDOM 128 From 6ce6157c8a7e5544a6b825fc9c1e3eb1f5e5de20 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 4 Nov 2016 20:53:57 -0700 Subject: [PATCH 017/102] fix issue in DNA copy, reduce number of test iterations. --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- test/SharedMemory/test.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 763156d86..cff5acbd1 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2190,7 +2190,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm const char* memDna = btDefaultSerializer::getMemoryDna(); if (sz < bufferSizeInBytes) { - for (int i = 0; i < bufferSizeInBytes; i++) + for (int i = 0; i < sz; i++) { bufferServerToClient[i] = memDna[i]; } diff --git a/test/SharedMemory/test.c b/test/SharedMemory/test.c index a1a6591d8..6037b693e 100644 --- a/test/SharedMemory/test.c +++ b/test/SharedMemory/test.c @@ -228,7 +228,7 @@ void testSharedMemory(b3PhysicsClientHandle sm) #endif } ///perform some simulation steps for testing - for ( i=0;i<10000;i++) + for ( i=0;i<1000;i++) { b3SharedMemoryStatusHandle statusHandle; int statusType; From 17f3c40317d793a0fc01ac91ea1bc42866dc37b9 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 4 Nov 2016 22:30:41 -0700 Subject: [PATCH 018/102] check for basename --- examples/SharedMemory/PhysicsDirect.cpp | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index f513aaeaa..db408e529 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -490,15 +490,22 @@ void PhysicsDirect::processBodyJointInfo(int bodyUniqueId, const SharedMemorySta { Bullet::btMultiBodyDoubleData* mb = (Bullet::btMultiBodyDoubleData*)bf.m_multiBodies[i]; - bodyJoints->m_baseName = mb->m_baseName; - + + if (mb->m_baseName) + { + bodyJoints->m_baseName = mb->m_baseName; + } addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); } else { Bullet::btMultiBodyFloatData* mb = (Bullet::btMultiBodyFloatData*)bf.m_multiBodies[i]; - bodyJoints->m_baseName = mb->m_baseName; + + if (mb->m_baseName) + { + bodyJoints->m_baseName = mb->m_baseName; + } addJointInfoFromMultiBodyData(mb,bodyJoints, m_data->m_verboseOutput); } } From 502f4b7d401b78884afc1240238322a623904f41 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 5 Nov 2016 11:32:31 -0700 Subject: [PATCH 019/102] update .bullet file --- data/multibody.bullet | Bin 16444 -> 16496 bytes 1 file 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zcgwqUe;B&ph??Lwcy=q0SS<89bRQ*O?G8QJq2Q3`%EEdf1?xqG`HBp^Mh0vQxf6y$gLG?RKfwQO0ONrH;~oz7QKo zG)-c7Q^jd+bZ&{)ip7oI6R=O`|HCEySSNsbLnb1VH0yFnDKC{Y9Md5KhQd;rA@L*| zrX|V^a3cwCf*%o-iT!364!6JvbOthye~3X`>MZ=TA;*r%Mdras$OkXJ1;i90i=f!Y zR|$$yV6rZSGS;JE43t9!jD>O7#>1^psm-LxzH*z^S0<3S3j0J@#pxztpNwt_vKpqs z?T{z4Xi>e>XUH@rIbE9~z8PAz)G+gz%y^bIO=fE~GKb`M5O60H!;fJu+y(RCZn#IA zF7vh7yiO8if##8WVIkZHKY^cWhTM%0A4%OLb(7RhQa4H6Bvpy@u*5nE`KN=$fdV>7^{|}TcFsGPRexDdV=E|JOP$AP izD667C3S(K>Xhp5`c4L@jB_w%V@oE;O^{BI^7#)8YKDaX From e7cfb656c4b2152f802d6b7e03d0b7ff079f3d15 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 5 Nov 2016 11:36:52 -0700 Subject: [PATCH 020/102] update bullet.h serialization header, matching the dna in Bullet/src/LinearMath/btSerialize.cpp --- Extras/Serialize/BulletFileLoader/autogenerated/bullet.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h index 49fb0dee0..2e2e8e322 100644 --- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h +++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h @@ -553,6 +553,8 @@ typedef struct bInvalidHandle { double m_deactivationTime; double m_friction; double m_rollingFriction; + double m_contactDamping; + double m_contactStiffness; double m_restitution; double m_hitFraction; double m_ccdSweptSphereRadius; @@ -585,6 +587,8 @@ typedef struct bInvalidHandle { float m_deactivationTime; float m_friction; float m_rollingFriction; + float m_contactDamping; + float m_contactStiffness; float m_restitution; float m_hitFraction; float m_ccdSweptSphereRadius; From 214930922d08895f472df539f7f3481e3cf57535 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 5 Nov 2016 12:53:40 -0700 Subject: [PATCH 021/102] make sure m_uniqueIdGenerator in btSerializer is initialized to zero, it can cause issues if not. --- .../PhysicsServerCommandProcessor.cpp | 17 +++++++++++++---- src/LinearMath/btSerializer.h | 4 +++- 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index cff5acbd1..c6346a554 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1036,10 +1036,17 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil; m_data->m_urdfLinkNameMapper.push_back(util); util->m_mb = mb; + for (int i = 0; i < bufferSizeInBytes; i++) + { + bufferServerToClient[i] = 0xcc; + } util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient); //disable serialization of the collision objects (they are too big, and the client likely doesn't need them); util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0); + util->m_memSerializer->startSerialization(); + + bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks()); for (int i=0;igetNumLinks();i++) { @@ -1066,18 +1073,19 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex())); m_data->m_strings.push_back(baseName); - - util->m_memSerializer->registerNameForPointer(baseName->c_str(),baseName->c_str()); mb->setBaseName(baseName->c_str()); + util->m_memSerializer->registerNameForPointer(baseName->c_str(),baseName->c_str()); - util->m_memSerializer->insertHeader(); + int len = mb->calculateSerializeBufferSize(); btChunk* chunk = util->m_memSerializer->allocate(len,1); const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer); util->m_memSerializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb); + + return true; } else { @@ -1129,6 +1137,8 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* m_data->m_urdfLinkNameMapper.push_back(util); util->m_mb = mb; util->m_memSerializer = new btDefaultSerializer(bufferSizeInBytes ,(unsigned char*)bufferServerToClient); + util->m_memSerializer->startSerialization(); + //disable serialization of the collision objects (they are too big, and the client likely doesn't need them); util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0); if (mb->getBaseName()) @@ -1147,7 +1157,6 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char* util->m_memSerializer->registerNameForPointer(mb->getBaseName(),mb->getBaseName()); - util->m_memSerializer->insertHeader(); int len = mb->calculateSerializeBufferSize(); btChunk* chunk = util->m_memSerializer->allocate(len,1); diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h index 424e0b99c..6f03df158 100644 --- a/src/LinearMath/btSerializer.h +++ b/src/LinearMath/btSerializer.h @@ -391,7 +391,8 @@ public: btDefaultSerializer(int totalSize=0, unsigned char* buffer=0) - :m_totalSize(totalSize), + :m_uniqueIdGenerator(0), + m_totalSize(totalSize), m_currentSize(0), m_dna(0), m_dnaLength(0), @@ -561,6 +562,7 @@ public: virtual void* getUniquePointer(void*oldPtr) { + btAssert(m_uniqueIdGenerator >= 0); if (!oldPtr) return 0; From 6a0f095d5b46f0b895c379bc5614fce6b6a6637e Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Sun, 6 Nov 2016 11:01:55 -0800 Subject: [PATCH 022/102] add proper 'App_PhysicsServerUDP' without shared memory usage, and renamed previous one into 'App_PhysicsServerSharedMemoryBridgeUDP' (premake only, no cmake build rules yet) --- examples/SharedMemory/PhysicsClientUDP.cpp | 37 ++++++---- examples/SharedMemory/udp/main.cpp | 48 ++++++++----- examples/SharedMemory/udp/premake4.lua | 82 +++++++++++++++++++++- 3 files changed, 134 insertions(+), 33 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientUDP.cpp b/examples/SharedMemory/PhysicsClientUDP.cpp index a112e0900..84749e801 100644 --- a/examples/SharedMemory/PhysicsClientUDP.cpp +++ b/examples/SharedMemory/PhysicsClientUDP.cpp @@ -11,6 +11,7 @@ #include "../MultiThreading/b3ThreadSupportInterface.h" void UDPThreadFunc(void* userPtr, void* lsMemory); void* UDPlsMemoryFunc(); +bool gVerboseNetworkMessagesClient = false; #ifndef _WIN32 #include "../MultiThreading/b3PosixThreadSupport.h" @@ -101,6 +102,7 @@ struct UdpNetworkedInternalData if (enet_initialize() != 0) { fprintf(stderr, "Error initialising enet"); + exit(EXIT_FAILURE); } @@ -165,13 +167,16 @@ struct UdpNetworkedInternalData break; case ENET_EVENT_TYPE_RECEIVE: - printf("A packet of length %u containing '%s' was " - "received from %s on channel %u.\n", - m_event.packet->dataLength, - m_event.packet->data, - m_event.peer->data, - m_event.channelID); - + + if (gVerboseNetworkMessagesClient) + { + printf("A packet of length %u containing '%s' was " + "received from %s on channel %u.\n", + m_event.packet->dataLength, + m_event.packet->data, + m_event.peer->data, + m_event.channelID); + } /* Clean up the packet now that we're done using it. > */ enet_packet_destroy(m_event.packet); @@ -198,7 +203,7 @@ struct UdpNetworkedInternalData { bool hasStatus = false; - int serviceResult = enet_host_service(m_client, &m_event, 100); + int serviceResult = enet_host_service(m_client, &m_event, 0); if (serviceResult > 0) { @@ -214,13 +219,15 @@ struct UdpNetworkedInternalData case ENET_EVENT_TYPE_RECEIVE: { - printf("A packet of length %u containing '%s' was " - "received from %s on channel %u.\n", - m_event.packet->dataLength, - m_event.packet->data, - m_event.peer->data, - m_event.channelID); - + if (gVerboseNetworkMessagesClient) + { + printf("A packet of length %u containing '%s' was " + "received from %s on channel %u.\n", + m_event.packet->dataLength, + m_event.packet->data, + m_event.peer->data, + m_event.channelID); + } int packetSizeInBytes = b3DeserializeInt(m_event.packet->data); diff --git a/examples/SharedMemory/udp/main.cpp b/examples/SharedMemory/udp/main.cpp index d653b34fd..39ae4ea79 100644 --- a/examples/SharedMemory/udp/main.cpp +++ b/examples/SharedMemory/udp/main.cpp @@ -1,10 +1,20 @@ /* server.cpp */ #include #include -#include "SharedMemoryCommandProcessor.h" +#include "../../CommonInterfaces/CommonGUIHelperInterface.h" +#ifdef NO_SHARED_MEMORY + #include "PhysicsServerCommandProcessor.h" + typedef PhysicsServerCommandProcessor MyCommandProcessor; +#else + #include "SharedMemoryCommandProcessor.h" + typedef SharedMemoryCommandProcessor MyCommandProcessor ; +#endif //NO_SHARED_MEMORY #include "SharedMemoryCommands.h" #include "Bullet3Common/b3AlignedObjectArray.h" #include "PhysicsServerCommandProcessor.h" + + +bool gVerboseNetworkMessagesServer = false; void MySerializeInt(unsigned int sz, unsigned char* output) { @@ -22,10 +32,10 @@ void MySerializeInt(unsigned int sz, unsigned char* output) int main(int argc, char *argv[]) { - unsigned char buf[4]; - - SharedMemoryCommandProcessor* sm = new SharedMemoryCommandProcessor; + DummyGUIHelper guiHelper; + PhysicsCommandProcessorInterface* sm = new MyCommandProcessor; + sm->setGuiHelper(&guiHelper); // PhysicsDirect* sm = new PhysicsDirect(sdk); @@ -95,13 +105,15 @@ int main(int argc, char *argv[]) break; case ENET_EVENT_TYPE_RECEIVE: - printf("A packet of length %u containing '%s' was " - "received from %s on channel %u.\n", - event.packet->dataLength, - event.packet->data, - event.peer->data, - event.channelID); - + if (gVerboseNetworkMessagesServer) + { + printf("A packet of length %u containing '%s' was " + "received from %s on channel %u.\n", + event.packet->dataLength, + event.packet->data, + event.peer->data, + event.channelID); + } if (event.packet->dataLength == sizeof(SharedMemoryCommand)) { SharedMemoryCommand* cmdPtr = (SharedMemoryCommand*)event.packet->data; @@ -117,8 +129,11 @@ int main(int argc, char *argv[]) hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size()); } - printf("buffer.size = %d\n", buffer.size()); - printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes); + if (gVerboseNetworkMessagesServer) + { + printf("buffer.size = %d\n", buffer.size()); + printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes); + } if (hasStatus) { //create packetData with [int packetSizeInBytes, status, streamBytes) @@ -138,13 +153,12 @@ int main(int argc, char *argv[]) for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++) { - packetData[i + curPos] = serverStatus.m_dataStream[i]; + packetData[i + curPos] = buffer[i]; } ENetPacket *packet = enet_packet_create(&packetData[0], packetData.size() , ENET_PACKET_FLAG_RELIABLE); - //enet_peer_send(peer, 0, packet); - - enet_host_broadcast(server, 0, packet); + enet_peer_send(event.peer, 0, packet); + //enet_host_broadcast(server, 0, packet); } } else diff --git a/examples/SharedMemory/udp/premake4.lua b/examples/SharedMemory/udp/premake4.lua index 852dfc638..531b098bf 100644 --- a/examples/SharedMemory/udp/premake4.lua +++ b/examples/SharedMemory/udp/premake4.lua @@ -1,5 +1,5 @@ -project ("App_PhysicsServerUDP") +project ("App_PhysicsServerSharedMemoryBridgeUDP") language "C++" @@ -9,6 +9,7 @@ project ("App_PhysicsServerUDP") if os.is("Windows") then defines { "WIN32" } + links {"Ws2_32","Winmm"} end @@ -44,3 +45,82 @@ project ("App_PhysicsServerUDP") "../../Utils/b3ResourcePath.h", } + +project "App_PhysicsServerUDP" + +if _OPTIONS["ios"] then + kind "WindowedApp" +else + kind "ConsoleApp" +end + +defines { "NO_SHARED_MEMORY" } + +includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/enet/include"} + +links { + "enet","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "BussIK" +} + +if os.is("Windows") then + defines { "WIN32" } + links {"Ws2_32","Winmm"} +end + +language "C++" + +myfiles = +{ + "../IKTrajectoryHelper.cpp", + "../IKTrajectoryHelper.h", + "../SharedMemoryCommands.h", + "../SharedMemoryPublic.h", + "../PhysicsServerCommandProcessor.cpp", + "../PhysicsServerCommandProcessor.h", + "../TinyRendererVisualShapeConverter.cpp", + "../TinyRendererVisualShapeConverter.h", + "../../TinyRenderer/geometry.cpp", + "../../TinyRenderer/model.cpp", + "../../TinyRenderer/tgaimage.cpp", + "../../TinyRenderer/our_gl.cpp", + "../../TinyRenderer/TinyRenderer.cpp", + "../../OpenGLWindow/SimpleCamera.cpp", + "../../OpenGLWindow/SimpleCamera.h", + "../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h", + "../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h", + "../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp", + "../../Importers/ImportURDFDemo/MyMultiBodyCreator.h", + "../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp", + "../../Importers/ImportURDFDemo/BulletUrdfImporter.h", + "../../Importers/ImportURDFDemo/UrdfParser.cpp", + "../../Importers/ImportURDFDemo/urdfStringSplit.cpp", + "../../Importers/ImportURDFDemo/UrdfParser.cpp", + "../../Importers/ImportURDFDemo/UrdfParser.h", + "../../Importers/ImportURDFDemo/URDF2Bullet.cpp", + "../../Importers/ImportURDFDemo/URDF2Bullet.h", + "../../Utils/b3ResourcePath.cpp", + "../../Utils/b3Clock.cpp", + "../../../Extras/Serialize/BulletWorldImporter/*", + "../../../Extras/Serialize/BulletFileLoader/*", + "../../Importers/ImportURDFDemo/URDFImporterInterface.h", + "../../Importers/ImportURDFDemo/URDFJointTypes.h", + "../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp", + "../../Importers/ImportObjDemo/LoadMeshFromObj.cpp", + "../../Importers/ImportSTLDemo/ImportSTLSetup.h", + "../../Importers/ImportSTLDemo/LoadMeshFromSTL.h", + "../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", + "../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h", + "../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp", + "../../ThirdPartyLibs/tinyxml/tinystr.cpp", + "../../ThirdPartyLibs/tinyxml/tinyxml.cpp", + "../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp", + "../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp", + "../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", + "../../ThirdPartyLibs/stb_image/stb_image.cpp", +} + +files { + myfiles, + "main.cpp", +} + From c1f728ec869e0db3f3c795e49da9115d33bace2e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 6 Nov 2016 15:02:07 -0800 Subject: [PATCH 023/102] immediately propagate forward kinematics + collision world transform, after 'INIT_POSE' command --- .../SharedMemory/PhysicsServerCommandProcessor.cpp | 12 ++++++++++++ test/enet/chat/client/main.cpp | 5 ++++- 2 files changed, 16 insertions(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index c6346a554..7c0a7ed9f 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2313,6 +2313,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm dofIndex += mb->getLink(i).m_dofCount; } } + + btAlignedObjectArray scratch_q; + btAlignedObjectArray scratch_m; + + mb->forwardKinematics(scratch_q,scratch_m); + int nLinks = mb->getNumLinks(); + scratch_q.resize(nLinks+1); + scratch_m.resize(nLinks+1); + + mb->updateCollisionObjectWorldTransforms(scratch_q,scratch_m); + + } SharedMemoryStatus& serverCmd =serverStatusOut; diff --git a/test/enet/chat/client/main.cpp b/test/enet/chat/client/main.cpp index 59565f464..b7387fac1 100644 --- a/test/enet/chat/client/main.cpp +++ b/test/enet/chat/client/main.cpp @@ -119,8 +119,11 @@ int main(int argc, char* argv[]) { printf("Say> "); +#ifdef _WIN32 gets_s(message, 1024); - +#else + gets(message); +#endif if (strcmp(message, "exit") == 0 || strcmp(message, "quit") == 0) { break; From ec78184604352afedd2e48c0ae7fa4fb0dd36533 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 7 Nov 2016 08:42:39 -0800 Subject: [PATCH 024/102] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 19d90086b..5c654bd04 100644 --- a/README.md +++ b/README.md @@ -4,7 +4,7 @@ # Bullet Physics SDK -This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for games, visual effects, robotics etc. +This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc. New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR From 4235c61fcf4218ae9310634549b5490e536b4e57 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 7 Nov 2016 12:08:02 -0800 Subject: [PATCH 025/102] move CommonRigidBodyMTBase out of interfaces, into MultiThreadedDemo. --- examples/Benchmarks/BenchmarkDemo.cpp | 10 +- .../CommonInterfaces/CommonRigidBodyBase.h | 49 +- examples/ExampleBrowser/CMakeLists.txt | 4 +- examples/ExampleBrowser/premake4.lua | 2 +- .../CommonRigidBodyMTBase.cpp} | 19 +- .../MultiThreadedDemo/CommonRigidBodyMTBase.h | 427 ++++++++++++++++++ .../MultiThreadedDemo/MultiThreadedDemo.cpp | 14 +- .../ParallelFor.h | 0 8 files changed, 489 insertions(+), 36 deletions(-) rename examples/{CommonInterfaces/CommonRigidBodyBase.cpp => MultiThreadedDemo/CommonRigidBodyMTBase.cpp} (98%) create mode 100644 examples/MultiThreadedDemo/CommonRigidBodyMTBase.h rename examples/{CommonInterfaces => MultiThreadedDemo}/ParallelFor.h (100%) diff --git a/examples/Benchmarks/BenchmarkDemo.cpp b/examples/Benchmarks/BenchmarkDemo.cpp index 0eee37149..00ac36b9c 100644 --- a/examples/Benchmarks/BenchmarkDemo.cpp +++ b/examples/Benchmarks/BenchmarkDemo.cpp @@ -32,7 +32,7 @@ subject to the following restrictions: #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btTransform.h" -#include "../CommonInterfaces/ParallelFor.h" +#include "../MultiThreadedDemo/ParallelFor.h" class btDynamicsWorld; @@ -49,11 +49,11 @@ struct btCollisionAlgorithmCreateFunc; class btDefaultCollisionConfiguration; -#include "../CommonInterfaces/CommonRigidBodyBase.h" +#include "../MultiThreadedDemo/CommonRigidBodyMTBase.h" -class BenchmarkDemo : public CommonRigidBodyBase +class BenchmarkDemo : public CommonRigidBodyMTBase { //keep the collision shapes, for deletion/cleanup @@ -93,7 +93,7 @@ class BenchmarkDemo : public CommonRigidBodyBase public: BenchmarkDemo(struct GUIHelperInterface* helper, int benchmark) - :CommonRigidBodyBase(helper), + :CommonRigidBodyMTBase(helper), m_benchmark(benchmark) { } @@ -1296,7 +1296,7 @@ void BenchmarkDemo::exitPhysics() } m_ragdolls.clear(); - CommonRigidBodyBase::exitPhysics(); + CommonRigidBodyMTBase::exitPhysics(); } diff --git a/examples/CommonInterfaces/CommonRigidBodyBase.h b/examples/CommonInterfaces/CommonRigidBodyBase.h index cfbd0053a..07175ca25 100644 --- a/examples/CommonInterfaces/CommonRigidBodyBase.h +++ b/examples/CommonInterfaces/CommonRigidBodyBase.h @@ -21,8 +21,6 @@ struct CommonRigidBodyBase : public CommonExampleInterface btConstraintSolver* m_solver; btDefaultCollisionConfiguration* m_collisionConfiguration; btDiscreteDynamicsWorld* m_dynamicsWorld; - bool m_multithreadedWorld; - bool m_multithreadCapable; //data for picking objects class btRigidBody* m_pickedBody; @@ -33,8 +31,20 @@ struct CommonRigidBodyBase : public CommonExampleInterface btScalar m_oldPickingDist; struct GUIHelperInterface* m_guiHelper; - CommonRigidBodyBase(struct GUIHelperInterface* helper); - virtual ~CommonRigidBodyBase(); + CommonRigidBodyBase(struct GUIHelperInterface* helper) + :m_broadphase(0), + m_dispatcher(0), + m_solver(0), + m_collisionConfiguration(0), + m_dynamicsWorld(0), + m_pickedBody(0), + m_pickedConstraint(0), + m_guiHelper(helper) + { + } + virtual ~CommonRigidBodyBase() + { + } btDiscreteDynamicsWorld* getDynamicsWorld() @@ -42,8 +52,26 @@ struct CommonRigidBodyBase : public CommonExampleInterface return m_dynamicsWorld; } - virtual void createDefaultParameters(); - virtual void createEmptyDynamicsWorld(); + virtual void createEmptyDynamicsWorld() + { + ///collision configuration contains default setup for memory, collision setup + m_collisionConfiguration = new btDefaultCollisionConfiguration(); + //m_collisionConfiguration->setConvexConvexMultipointIterations(); + + ///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded) + m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration); + + m_broadphase = new btDbvtBroadphase(); + + ///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded) + btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver; + m_solver = sol; + + m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); + + m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); + } + virtual void stepSimulation(float deltaTime) { @@ -53,7 +81,14 @@ struct CommonRigidBodyBase : public CommonExampleInterface } } - virtual void physicsDebugDraw(int debugFlags); + virtual void physicsDebugDraw(int debugFlags) + { + if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer()) + { + m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugFlags); + m_dynamicsWorld->debugDrawWorld(); + } + } virtual void exitPhysics() { diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt index dcdf76878..0096560b6 100644 --- a/examples/ExampleBrowser/CMakeLists.txt +++ b/examples/ExampleBrowser/CMakeLists.txt @@ -32,7 +32,6 @@ ADD_LIBRARY(BulletExampleBrowserLib GL_ShapeDrawer.cpp CollisionShape2TriangleMesh.cpp CollisionShape2TriangleMesh.h - ../CommonInterfaces/CommonRigidBodyBase.cpp ../Utils/b3Clock.cpp ../Utils/b3Clock.h ../Utils/b3ResourcePath.cpp @@ -200,6 +199,9 @@ SET(BulletExampleBrowser_SRCS ../ForkLift/ForkLiftDemo.h ../MultiThreadedDemo/MultiThreadedDemo.cpp ../MultiThreadedDemo/MultiThreadedDemo.h + ../MultiThreadedDemo/CommonRigidBodyMTBase.cpp + ../MultiThreadedDemo/CommonRigidBodyMTBase.h + ../MultiThreadedDemo/ParallelFor.h ../Tutorial/Tutorial.cpp ../Tutorial/Tutorial.h ../Tutorial/Dof6ConstraintTutorial.cpp diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index f99968f99..ac184dedc 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -104,7 +104,7 @@ project "App_BulletExampleBrowser" "../Collision/Internal/*", "../Benchmarks/*", "../MultiThreadedDemo/*", - "../CommonInterfaces/*", + "../CommonInterfaces/*.h", "../ForkLift/ForkLiftDemo.*", "../Importers/**", "../../Extras/Serialize/BulletWorldImporter/*", diff --git a/examples/CommonInterfaces/CommonRigidBodyBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp similarity index 98% rename from examples/CommonInterfaces/CommonRigidBodyBase.cpp rename to examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp index 9ae25c9ed..6edada4de 100644 --- a/examples/CommonInterfaces/CommonRigidBodyBase.cpp +++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp @@ -21,13 +21,8 @@ subject to the following restrictions: class btCollisionShape; -#include "CommonExampleInterface.h" -#include "CommonRigidBodyBase.h" -#include "CommonParameterInterface.h" -#include "CommonGUIHelperInterface.h" -#include "CommonRenderInterface.h" -#include "CommonWindowInterface.h" -#include "CommonGraphicsAppInterface.h" +#include "CommonRigidBodyMTBase.h" +#include "../CommonInterfaces/CommonParameterInterface.h" #include "ParallelFor.h" #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btPoolAllocator.h" @@ -597,7 +592,7 @@ static bool gDisplayProfileInfo = false; static btScalar gSliderNumThreads = 1.0f; // should be int //////////////////////////////////// -CommonRigidBodyBase::CommonRigidBodyBase( struct GUIHelperInterface* helper ) +CommonRigidBodyMTBase::CommonRigidBodyMTBase( struct GUIHelperInterface* helper ) :m_broadphase( 0 ), m_dispatcher( 0 ), m_solver( 0 ), @@ -612,7 +607,7 @@ CommonRigidBodyBase::CommonRigidBodyBase( struct GUIHelperInterface* helper ) gTaskMgr.init(); } -CommonRigidBodyBase::~CommonRigidBodyBase() +CommonRigidBodyMTBase::~CommonRigidBodyMTBase() { gTaskMgr.shutdown(); } @@ -651,7 +646,7 @@ void setThreadCountCallback(float val) } } -void CommonRigidBodyBase::createEmptyDynamicsWorld() +void CommonRigidBodyMTBase::createEmptyDynamicsWorld() { gNumIslands = 0; #if BT_THREADSAFE && (BT_USE_OPENMP || BT_USE_PPL || BT_USE_TBB) @@ -716,7 +711,7 @@ void CommonRigidBodyBase::createEmptyDynamicsWorld() } -void CommonRigidBodyBase::createDefaultParameters() +void CommonRigidBodyMTBase::createDefaultParameters() { if (m_multithreadCapable) { @@ -761,7 +756,7 @@ void CommonRigidBodyBase::createDefaultParameters() } } -void CommonRigidBodyBase::physicsDebugDraw(int debugFlags) +void CommonRigidBodyMTBase::physicsDebugDraw(int debugFlags) { if (m_dynamicsWorld && m_dynamicsWorld->getDebugDrawer()) { diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.h b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.h new file mode 100644 index 000000000..d4e291011 --- /dev/null +++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.h @@ -0,0 +1,427 @@ + +#ifndef COMMON_RIGID_BODY_MT_BASE_H +#define COMMON_RIGID_BODY_MT_BASE_H + + +#include "btBulletDynamicsCommon.h" +#include "../CommonInterfaces/CommonExampleInterface.h" +#include "../CommonInterfaces/CommonGUIHelperInterface.h" +#include "../CommonInterfaces/CommonRenderInterface.h" +#include "../CommonInterfaces/CommonCameraInterface.h" +#include "../CommonInterfaces/CommonGraphicsAppInterface.h" +#include "../CommonInterfaces/CommonWindowInterface.h" + +struct CommonRigidBodyMTBase : public CommonExampleInterface +{ + //keep the collision shapes, for deletion/cleanup + btAlignedObjectArray m_collisionShapes; + btBroadphaseInterface* m_broadphase; + btCollisionDispatcher* m_dispatcher; + btConstraintSolver* m_solver; + btDefaultCollisionConfiguration* m_collisionConfiguration; + btDiscreteDynamicsWorld* m_dynamicsWorld; + bool m_multithreadedWorld; + bool m_multithreadCapable; + + //data for picking objects + class btRigidBody* m_pickedBody; + class btTypedConstraint* m_pickedConstraint; + int m_savedState; + btVector3 m_oldPickingPos; + btVector3 m_hitPos; + btScalar m_oldPickingDist; + struct GUIHelperInterface* m_guiHelper; + + CommonRigidBodyMTBase(struct GUIHelperInterface* helper); + virtual ~CommonRigidBodyMTBase(); + + + btDiscreteDynamicsWorld* getDynamicsWorld() + { + return m_dynamicsWorld; + } + + virtual void createDefaultParameters(); + virtual void createEmptyDynamicsWorld(); + + virtual void stepSimulation(float deltaTime) + { + if (m_dynamicsWorld) + { + m_dynamicsWorld->stepSimulation(deltaTime); + } + } + + virtual void physicsDebugDraw(int debugFlags); + + virtual void exitPhysics() + { + removePickingConstraint(); + //cleanup in the reverse order of creation/initialization + + //remove the rigidbodies from the dynamics world and delete them + + if (m_dynamicsWorld) + { + + int i; + for (i = m_dynamicsWorld->getNumConstraints() - 1; i >= 0; i--) + { + m_dynamicsWorld->removeConstraint(m_dynamicsWorld->getConstraint(i)); + } + for (i = m_dynamicsWorld->getNumCollisionObjects() - 1; i >= 0; i--) + { + btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; + btRigidBody* body = btRigidBody::upcast(obj); + if (body && body->getMotionState()) + { + delete body->getMotionState(); + } + m_dynamicsWorld->removeCollisionObject(obj); + delete obj; + } + } + //delete collision shapes + for (int j = 0; jgetDebugDrawer()) + { + m_dynamicsWorld->getDebugDrawer()->setDebugMode(debugDrawFlags); + } + m_dynamicsWorld->debugDrawWorld(); + } + + } + + virtual bool keyboardCallback(int key, int state) + { + if ((key==B3G_F3) && state && m_dynamicsWorld) + { + btDefaultSerializer* serializer = new btDefaultSerializer(); + m_dynamicsWorld->serialize(serializer); + + FILE* file = fopen("testFile.bullet","wb"); + fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file); + fclose(file); + //b3Printf("btDefaultSerializer wrote testFile.bullet"); + delete serializer; + return true; + + } + return false;//don't handle this key + } + + + btVector3 getRayTo(int x,int y) + { + CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); + + if (!renderer) + { + btAssert(0); + return btVector3(0,0,0); + } + + float top = 1.f; + float bottom = -1.f; + float nearPlane = 1.f; + float tanFov = (top-bottom)*0.5f / nearPlane; + float fov = btScalar(2.0) * btAtan(tanFov); + + btVector3 camPos,camTarget; + + renderer->getActiveCamera()->getCameraPosition(camPos); + renderer->getActiveCamera()->getCameraTargetPosition(camTarget); + + btVector3 rayFrom = camPos; + btVector3 rayForward = (camTarget-camPos); + rayForward.normalize(); + float farPlane = 10000.f; + rayForward*= farPlane; + + btVector3 rightOffset; + btVector3 cameraUp=btVector3(0,0,0); + cameraUp[m_guiHelper->getAppInterface()->getUpAxis()]=1; + + btVector3 vertical = cameraUp; + + btVector3 hor; + hor = rayForward.cross(vertical); + hor.safeNormalize(); + vertical = hor.cross(rayForward); + vertical.safeNormalize(); + + float tanfov = tanf(0.5f*fov); + + + hor *= 2.f * farPlane * tanfov; + vertical *= 2.f * farPlane * tanfov; + + btScalar aspect; + float width = float(renderer->getScreenWidth()); + float height = float (renderer->getScreenHeight()); + + aspect = width / height; + + hor*=aspect; + + + btVector3 rayToCenter = rayFrom + rayForward; + btVector3 dHor = hor * 1.f/width; + btVector3 dVert = vertical * 1.f/height; + + + btVector3 rayTo = rayToCenter - 0.5f * hor + 0.5f * vertical; + rayTo += btScalar(x) * dHor; + rayTo -= btScalar(y) * dVert; + return rayTo; + } + + virtual bool mouseMoveCallback(float x,float y) + { + CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); + + if (!renderer) + { + btAssert(0); + return false; + } + + btVector3 rayTo = getRayTo(int(x), int(y)); + btVector3 rayFrom; + renderer->getActiveCamera()->getCameraPosition(rayFrom); + movePickedBody(rayFrom,rayTo); + + return false; + } + + virtual bool mouseButtonCallback(int button, int state, float x, float y) + { + CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); + + if (!renderer) + { + btAssert(0); + return false; + } + + CommonWindowInterface* window = m_guiHelper->getAppInterface()->m_window; + +#if 0 + if (window->isModifierKeyPressed(B3G_ALT)) + { + printf("ALT pressed\n"); + } else + { + printf("NO ALT pressed\n"); + } + + if (window->isModifierKeyPressed(B3G_SHIFT)) + { + printf("SHIFT pressed\n"); + } else + { + printf("NO SHIFT pressed\n"); + } + + if (window->isModifierKeyPressed(B3G_CONTROL)) + { + printf("CONTROL pressed\n"); + } else + { + printf("NO CONTROL pressed\n"); + } +#endif + + + if (state==1) + { + if(button==0 && (!window->isModifierKeyPressed(B3G_ALT) && !window->isModifierKeyPressed(B3G_CONTROL) )) + { + btVector3 camPos; + renderer->getActiveCamera()->getCameraPosition(camPos); + + btVector3 rayFrom = camPos; + btVector3 rayTo = getRayTo(int(x),int(y)); + + pickBody(rayFrom, rayTo); + + + } + } else + { + if (button==0) + { + removePickingConstraint(); + //remove p2p + } + } + + //printf("button=%d, state=%d\n",button,state); + return false; + } + + + virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) + { + if (m_dynamicsWorld==0) + return false; + + btCollisionWorld::ClosestRayResultCallback rayCallback(rayFromWorld, rayToWorld); + + m_dynamicsWorld->rayTest(rayFromWorld, rayToWorld, rayCallback); + if (rayCallback.hasHit()) + { + + btVector3 pickPos = rayCallback.m_hitPointWorld; + btRigidBody* body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject); + if (body) + { + //other exclusions? + if (!(body->isStaticObject() || body->isKinematicObject())) + { + m_pickedBody = body; + m_savedState = m_pickedBody->getActivationState(); + m_pickedBody->setActivationState(DISABLE_DEACTIVATION); + //printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ()); + btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos; + btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot); + m_dynamicsWorld->addConstraint(p2p, true); + m_pickedConstraint = p2p; + btScalar mousePickClamping = 30.f; + p2p->m_setting.m_impulseClamp = mousePickClamping; + //very weak constraint for picking + p2p->m_setting.m_tau = 0.001f; + } + } + + + // pickObject(pickPos, rayCallback.m_collisionObject); + m_oldPickingPos = rayToWorld; + m_hitPos = pickPos; + m_oldPickingDist = (pickPos - rayFromWorld).length(); + // printf("hit !\n"); + //add p2p + } + return false; + } + virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) + { + if (m_pickedBody && m_pickedConstraint) + { + btPoint2PointConstraint* pickCon = static_cast(m_pickedConstraint); + if (pickCon) + { + //keep it at the same picking distance + + btVector3 newPivotB; + + btVector3 dir = rayToWorld - rayFromWorld; + dir.normalize(); + dir *= m_oldPickingDist; + + newPivotB = rayFromWorld + dir; + pickCon->setPivotB(newPivotB); + return true; + } + } + return false; + } + virtual void removePickingConstraint() + { + if (m_pickedConstraint) + { + m_pickedBody->forceActivationState(m_savedState); + m_pickedBody->activate(); + m_dynamicsWorld->removeConstraint(m_pickedConstraint); + delete m_pickedConstraint; + m_pickedConstraint = 0; + m_pickedBody = 0; + } + } + + + + btBoxShape* createBoxShape(const btVector3& halfExtents) + { + btBoxShape* box = new btBoxShape(halfExtents); + return box; + } + + btRigidBody* createRigidBody(float mass, const btTransform& startTransform, btCollisionShape* shape, const btVector4& color = btVector4(1, 0, 0, 1)) + { + btAssert((!shape || shape->getShapeType() != INVALID_SHAPE_PROXYTYPE)); + + //rigidbody is dynamic if and only if mass is non zero, otherwise static + bool isDynamic = (mass != 0.f); + + btVector3 localInertia(0, 0, 0); + if (isDynamic) + shape->calculateLocalInertia(mass, localInertia); + + //using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects + +#define USE_MOTIONSTATE 1 +#ifdef USE_MOTIONSTATE + btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform); + + btRigidBody::btRigidBodyConstructionInfo cInfo(mass, myMotionState, shape, localInertia); + + btRigidBody* body = new btRigidBody(cInfo); + //body->setContactProcessingThreshold(m_defaultContactProcessingThreshold); + +#else + btRigidBody* body = new btRigidBody(mass, 0, shape, localInertia); + body->setWorldTransform(startTransform); +#endif// + + body->setUserIndex(-1); + m_dynamicsWorld->addRigidBody(body); + return body; + } + + + + virtual void renderScene() + { + { + + m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld); + } + + { + + m_guiHelper->render(m_dynamicsWorld); + } + } +}; + +#endif //#define COMMON_RIGID_BODY_MT_BASE_H + + diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp index 25c20383d..d07ef4ca2 100644 --- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp +++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp @@ -16,19 +16,13 @@ subject to the following restrictions: #include "btBulletDynamicsCommon.h" #include "LinearMath/btQuickprof.h" #include "LinearMath/btIDebugDraw.h" - +#include "../CommonInterfaces/CommonParameterInterface.h" #include //printf debugging #include class btCollisionShape; -#include "../CommonInterfaces/CommonExampleInterface.h" -#include "../CommonInterfaces/CommonRigidBodyBase.h" -#include "../CommonInterfaces/CommonParameterInterface.h" -#include "../CommonInterfaces/CommonGUIHelperInterface.h" -#include "../CommonInterfaces/CommonRenderInterface.h" -#include "../CommonInterfaces/CommonWindowInterface.h" -#include "../CommonInterfaces/CommonGraphicsAppInterface.h" +#include "CommonRigidBodyMTBase.h" #include "MultiThreadedDemo.h" #include "LinearMath/btAlignedObjectArray.h" #include "btBulletCollisionCommon.h" @@ -37,7 +31,7 @@ class btCollisionShape; #define BT_OVERRIDE /// MultiThreadedDemo shows how to setup and use multithreading -class MultiThreadedDemo : public CommonRigidBodyBase +class MultiThreadedDemo : public CommonRigidBodyMTBase { static const int kUpAxis = 1; @@ -84,7 +78,7 @@ public: MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper) - : CommonRigidBodyBase( helper ) + : CommonRigidBodyMTBase( helper ) { m_cameraTargetPos = btVector3( 0.0f, 0.0f, 0.0f ); m_cameraPitch = 90.0f; diff --git a/examples/CommonInterfaces/ParallelFor.h b/examples/MultiThreadedDemo/ParallelFor.h similarity index 100% rename from examples/CommonInterfaces/ParallelFor.h rename to examples/MultiThreadedDemo/ParallelFor.h From 34f9dd09c92b392df247871ee0d506d2f37a6f83 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 7 Nov 2016 18:30:47 -0800 Subject: [PATCH 026/102] remove CommonRigidBodyBase.cpp --- examples/BasicDemo/CMakeLists.txt | 3 --- 1 file changed, 3 deletions(-) diff --git a/examples/BasicDemo/CMakeLists.txt b/examples/BasicDemo/CMakeLists.txt index 932e39330..f01a03a51 100644 --- a/examples/BasicDemo/CMakeLists.txt +++ b/examples/BasicDemo/CMakeLists.txt @@ -12,14 +12,12 @@ IF (WIN32) ADD_EXECUTABLE(App_BasicExample BasicExample.cpp main.cpp - ../CommonInterfaces/CommonRigidBodyBase.cpp ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc ) ELSE() ADD_EXECUTABLE(App_BasicExample BasicExample.cpp main.cpp - ../CommonInterfaces/CommonRigidBodyBase.cpp ) ENDIF() @@ -55,7 +53,6 @@ SET(AppBasicExampleGui_SRCS ../ExampleBrowser/OpenGLGuiHelper.cpp ../ExampleBrowser/GL_ShapeDrawer.cpp ../ExampleBrowser/CollisionShape2TriangleMesh.cpp - ../CommonInterfaces/CommonRigidBodyBase.cpp ../Utils/b3Clock.cpp ) From 2bb53b311d6d21155e01f09539ff94525e27eaa9 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 7 Nov 2016 21:13:48 -0800 Subject: [PATCH 027/102] silence warning --- examples/ThirdPartyLibs/BussIK/Tree.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/examples/ThirdPartyLibs/BussIK/Tree.cpp b/examples/ThirdPartyLibs/BussIK/Tree.cpp index 6891f0601..0ce6486d8 100644 --- a/examples/ThirdPartyLibs/BussIK/Tree.cpp +++ b/examples/ThirdPartyLibs/BussIK/Tree.cpp @@ -98,10 +98,10 @@ Node* Tree::SearchJoint(Node* node, int index) if (node->seqNumJoint == index) { return node; } else { - if (ret = SearchJoint(node->left, index)) { + if ((ret = SearchJoint(node->left, index))) { return ret; } - if (ret = SearchJoint(node->right, index)) { + if ((ret = SearchJoint(node->right, index))) { return ret; } return NULL; @@ -127,10 +127,10 @@ Node* Tree::SearchEffector(Node* node, int index) if (node->seqNumEffector == index) { return node; } else { - if (ret = SearchEffector(node->left, index)) { + if ((ret = SearchEffector(node->left, index))) { return ret; } - if (ret = SearchEffector(node->right, index)) { + if ((ret = SearchEffector(node->right, index))) { return ret; } return NULL; @@ -214,4 +214,4 @@ void Tree::UnFreezeTree(Node* node) void Tree::UnFreeze(void) { UnFreezeTree(root); -} \ No newline at end of file +} From 6701947684f2b0cf59489ab3cf5faeeff609c8e5 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 9 Nov 2016 12:22:05 -0800 Subject: [PATCH 028/102] fix compile issues --- examples/SharedMemory/PhysicsClientUDP.cpp | 8 ++++++++ examples/pybullet/pybullet.c | 2 +- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsClientUDP.cpp b/examples/SharedMemory/PhysicsClientUDP.cpp index 84749e801..0d76f8310 100644 --- a/examples/SharedMemory/PhysicsClientUDP.cpp +++ b/examples/SharedMemory/PhysicsClientUDP.cpp @@ -187,6 +187,10 @@ struct UdpNetworkedInternalData printf("%s disconected.\n", m_event.peer->data); break; + default: + { + printf("unknown event type: %d.\n", m_event.type); + } } } else if (serviceResult > 0) @@ -258,6 +262,10 @@ struct UdpNetworkedInternalData break; } + default: + { + printf("unknown event type: %d.\n", m_event.type); + } } } else if (serviceResult > 0) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index af8eacdf7..fd5355abe 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1482,7 +1482,7 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args) static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args) { int size = PySequence_Size(args); - const char* filename = -1; + const char* filename = 0; b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; int statusType; From 0d47d61007e34f703ec1914dae4b5c8aa2d965c3 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 9 Nov 2016 21:01:04 -0800 Subject: [PATCH 029/102] pybullet getClosestPoints --- data/quadruped/quadruped.urdf | 728 ++++++++++++++++++ .../ImportURDFDemo/ImportURDFSetup.cpp | 2 +- examples/SharedMemory/PhysicsClientC_API.cpp | 66 +- examples/SharedMemory/PhysicsClientC_API.h | 11 + .../PhysicsServerCommandProcessor.cpp | 384 +++++++-- .../SharedMemory/PhysicsServerExample.cpp | 17 + examples/SharedMemory/SharedMemoryCommands.h | 10 + examples/SharedMemory/SharedMemoryPublic.h | 17 + examples/pybullet/pybullet.c | 234 ++++-- .../CollisionDispatch/btCollisionWorld.cpp | 1 + .../CollisionDispatch/btCollisionWorld.h | 6 +- .../btCompoundCompoundCollisionAlgorithm.cpp | 24 +- .../btConvexConvexAlgorithm.cpp | 2 +- .../CollisionDispatch/btManifoldResult.h | 8 +- .../btSphereSphereCollisionAlgorithm.cpp | 2 +- 15 files changed, 1373 insertions(+), 139 deletions(-) create mode 100644 data/quadruped/quadruped.urdf diff --git a/data/quadruped/quadruped.urdf b/data/quadruped/quadruped.urdf new file mode 100644 index 000000000..843371c32 --- /dev/null +++ b/data/quadruped/quadruped.urdf @@ -0,0 +1,728 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp index 3dfe17dd0..aba0b3e03 100644 --- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp +++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp @@ -135,7 +135,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option, if (gFileNameArray.size()==0) { - gFileNameArray.push_back("r2d2.urdf"); + gFileNameArray.push_back("quadruped/quadruped.urdf"); } diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 1739282bb..8dcfdebd1 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1274,7 +1274,66 @@ void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int body command->m_requestContactPointArguments.m_objectBIndexFilter = bodyUniqueIdB; } -void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); + +///compute the closest points between two bodies +b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient) +{ + b3SharedMemoryCommandHandle commandHandle =b3InitRequestContactPointInformation(physClient); + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION); + command->m_updateFlags = CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE; + command->m_requestContactPointArguments.m_mode = CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS; + return commandHandle; +} + +void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA) +{ + b3SetContactFilterBodyA(commandHandle,bodyUniqueIdA); +} + +void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB) +{ + b3SetContactFilterBodyB(commandHandle,bodyUniqueIdB); +} + +void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION); + command->m_updateFlags += CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD; + command->m_requestContactPointArguments.m_closestDistanceThreshold = distance; +} + + +///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates) +b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3], const double aabbMax[3]) +{ + b3SharedMemoryCommandHandle commandHandle = b3InitRequestContactPointInformation(physClient); + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION); + command->m_updateFlags = CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE; + command->m_requestContactPointArguments.m_mode = CONTACT_QUERY_MODE_AABB_OVERLAP; + + command->m_requestContactPointArguments.m_aabbQueryMin[0] = aabbMin[0]; + command->m_requestContactPointArguments.m_aabbQueryMin[1] = aabbMin[1]; + command->m_requestContactPointArguments.m_aabbQueryMin[2] = aabbMin[2]; + + command->m_requestContactPointArguments.m_aabbQueryMax[0] = aabbMax[0]; + command->m_requestContactPointArguments.m_aabbQueryMax[1] = aabbMax[1]; + command->m_requestContactPointArguments.m_aabbQueryMax[2] = aabbMax[2]; + + return commandHandle; +} + +void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data) +{ + data->m_numOverlappingObjects = 0; +// data->m_objectUniqueIds +} + void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointData) @@ -1286,6 +1345,11 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con } } +void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo) +{ + b3GetContactPointInformation(physClient,contactPointInfo); +} + //request visual shape information diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 33e821759..7b4589e86 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -99,6 +99,17 @@ void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int body void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo); +///compute the closest points between two bodies +b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient); +void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); +void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); +void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance); +void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo); + +///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates) +b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3],const double aabbMax[3]); +void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data); + //request visual shape information b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA); void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 7c0a7ed9f..402cdd84d 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2541,86 +2541,326 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm serverCmd.m_sendContactPointArgs.m_numContactPointsCopied = 0; //make a snapshot of the contact manifolds into individual contact points - if (clientCmd.m_requestContactPointArguments.m_startingContactPointIndex==0) - { - int numContactManifolds = m_data->m_dynamicsWorld->getDispatcher()->getNumManifolds(); + if (clientCmd.m_requestContactPointArguments.m_startingContactPointIndex == 0) + { m_data->m_cachedContactPoints.resize(0); - m_data->m_cachedContactPoints.reserve(numContactManifolds*4); - for (int i=0;im_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i]; - int linkIndexA = -1; - int linkIndexB = -1; - - int objectIndexB = -1; - const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1()); - if (bodyB) + int mode = CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS; + + if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE) + { + mode = clientCmd.m_requestContactPointArguments.m_mode; + } + + switch (mode) + { + case CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS: + { + int numContactManifolds = m_data->m_dynamicsWorld->getDispatcher()->getNumManifolds(); + m_data->m_cachedContactPoints.reserve(numContactManifolds * 4); + for (int i = 0; i < numContactManifolds; i++) { - objectIndexB = bodyB->getUserIndex2(); - } - const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); - if (mblB && mblB->m_multiBody) - { - linkIndexB = mblB->m_link; - objectIndexB = mblB->m_multiBody->getUserIndex2(); - } + const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i]; + int linkIndexA = -1; + int linkIndexB = -1; - int objectIndexA = -1; - const btRigidBody* bodyA = btRigidBody::upcast(manifold->getBody0()); - if (bodyA) - { - objectIndexA = bodyA->getUserIndex2(); - } - const btMultiBodyLinkCollider* mblA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); - if (mblA && mblA->m_multiBody) - { - linkIndexA = mblA->m_link; + int objectIndexB = -1; - objectIndexA = mblA->m_multiBody->getUserIndex2(); - } - - btAssert(bodyA || mblA); - - //apply the filter, if the user provides it - if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter>=0) - { - if ((clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexA) && - (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexB)) - continue; - } - - //apply the second object filter, if the user provides it - if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter>=0) - { - if ((clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexA) && - (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)) - continue; - } - - for (int p=0;pgetNumContacts();p++) - { - - b3ContactPointData pt; - pt.m_bodyUniqueIdA = objectIndexA; - pt.m_bodyUniqueIdB = objectIndexB; - const btManifoldPoint& srcPt = manifold->getContactPoint(p); - pt.m_contactDistance = srcPt.getDistance(); - pt.m_contactFlags = 0; - pt.m_linkIndexA = linkIndexA; - pt.m_linkIndexB = linkIndexB; - for (int j=0;j<3;j++) + const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1()); + if (bodyB) { - pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j]; - pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j]; - pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j]; + objectIndexB = bodyB->getUserIndex2(); + } + const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); + if (mblB && mblB->m_multiBody) + { + linkIndexB = mblB->m_link; + objectIndexB = mblB->m_multiBody->getUserIndex2(); + } + + int objectIndexA = -1; + const btRigidBody* bodyA = btRigidBody::upcast(manifold->getBody0()); + if (bodyA) + { + objectIndexA = bodyA->getUserIndex2(); + } + const btMultiBodyLinkCollider* mblA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); + if (mblA && mblA->m_multiBody) + { + linkIndexA = mblA->m_link; + + objectIndexA = mblA->m_multiBody->getUserIndex2(); + } + + btAssert(bodyA || mblA); + + //apply the filter, if the user provides it + if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0) + { + if ((clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexA) && + (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter != objectIndexB)) + continue; + } + + //apply the second object filter, if the user provides it + if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0) + { + if ((clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexA) && + (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)) + continue; + } + + for (int p = 0; p < manifold->getNumContacts(); p++) + { + + b3ContactPointData pt; + pt.m_bodyUniqueIdA = objectIndexA; + pt.m_bodyUniqueIdB = objectIndexB; + const btManifoldPoint& srcPt = manifold->getContactPoint(p); + pt.m_contactDistance = srcPt.getDistance(); + pt.m_contactFlags = 0; + pt.m_linkIndexA = linkIndexA; + pt.m_linkIndexB = linkIndexB; + for (int j = 0; j < 3; j++) + { + pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j]; + pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j]; + pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j]; + } + pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->m_physicsDeltaTime; + // pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1; + m_data->m_cachedContactPoints.push_back(pt); } - pt.m_normalForce = srcPt.getAppliedImpulse()/m_data->m_physicsDeltaTime; -// pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1; - m_data->m_cachedContactPoints.push_back (pt); } - } - } + break; + } + case CONTACT_QUERY_MODE_AABB_OVERLAP: + { + //clientCmd.m_requestContactPointArguments.m_aabbQueryMin + btVector3 aabbMin,aabbMax; + aabbMin.setValue(clientCmd.m_requestContactPointArguments.m_aabbQueryMin[0], + clientCmd.m_requestContactPointArguments.m_aabbQueryMin[1], + clientCmd.m_requestContactPointArguments.m_aabbQueryMin[2]); + aabbMax.setValue(clientCmd.m_requestContactPointArguments.m_aabbQueryMax[0], + clientCmd.m_requestContactPointArguments.m_aabbQueryMax[1], + clientCmd.m_requestContactPointArguments.m_aabbQueryMax[2]); + + struct MyBroadphaseCallback : public btBroadphaseAabbCallback + { + b3AlignedObjectArray m_bodyUniqueIds; + b3AlignedObjectArray m_links; + + + MyBroadphaseCallback() + { + } + virtual ~MyBroadphaseCallback() + { + } + virtual bool process(const btBroadphaseProxy* proxy) + { + btCollisionObject* colObj = (btCollisionObject*)proxy->m_clientObject; + btMultiBodyLinkCollider* mbl = btMultiBodyLinkCollider::upcast(colObj); + if (mbl) + { + int bodyUniqueId = mbl->m_multiBody->getUserIndex2(); + m_bodyUniqueIds.push_back(bodyUniqueId); + m_links.push_back(mbl->m_link); + return true; + } + int bodyUniqueId = colObj->getUserIndex2(); + if (bodyUniqueId >= 0) + { + m_bodyUniqueIds.push_back(bodyUniqueId); + m_links.push_back(mbl->m_link); + } + return true; + } + }; + + MyBroadphaseCallback callback; + + m_data->m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,callback); + + int totalBytesPerObject = 2 * sizeof(int); + int pairCapacity = bufferSizeInBytes / totalBytesPerObject - 1; + if (callback.m_bodyUniqueIds.size() < pairCapacity) + { + serverCmd.m_type = CMD_AABB_OVERLAP_COMPLETED; + int* pairStorage = (int*)bufferServerToClient; + for (int i = 0; i < callback.m_bodyUniqueIds.size(); i++) + { + pairStorage[i * 2] = callback.m_bodyUniqueIds[i]; + pairStorage[i * 2+1] = callback.m_links[i]; + } + } + else + { + serverCmd.m_type = CMD_AABB_OVERLAP_FAILED; + } + + hasStatus = true; + break; + } + case CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS: + { + //todo(erwincoumans) compute closest points between all, and vs all, pair + btScalar closestDistanceThreshold = 0.f; + + if (clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD) + { + closestDistanceThreshold = clientCmd.m_requestContactPointArguments.m_closestDistanceThreshold; + } + + int bodyUniqueIdA = clientCmd.m_requestContactPointArguments.m_objectAIndexFilter; + int bodyUniqueIdB = clientCmd.m_requestContactPointArguments.m_objectBIndexFilter; + + btAlignedObjectArray setA; + btAlignedObjectArray setB; + btAlignedObjectArray setALinkIndex; + btAlignedObjectArray setBLinkIndex; + + if (bodyUniqueIdA >= 0) + { + InteralBodyData* bodyA = m_data->getHandle(bodyUniqueIdA); + if (bodyA) + { + if (bodyA->m_multiBody) + { + if (bodyA->m_multiBody->getBaseCollider()) + { + setA.push_back(bodyA->m_multiBody->getBaseCollider()); + setALinkIndex.push_back(-1); + } + for (int i = 0; i < bodyA->m_multiBody->getNumLinks(); i++) + { + if (bodyA->m_multiBody->getLink(i).m_collider) + { + setA.push_back(bodyA->m_multiBody->getLink(i).m_collider); + setALinkIndex.push_back(i); + } + } + } + if (bodyA->m_rigidBody) + { + setA.push_back(bodyA->m_rigidBody); + setALinkIndex.push_back(-1); + } + } + } + if (bodyUniqueIdB>=0) + { + InteralBodyData* bodyB = m_data->getHandle(bodyUniqueIdB); + if (bodyB) + { + if (bodyB->m_multiBody) + { + if (bodyB->m_multiBody->getBaseCollider()) + { + setB.push_back(bodyB->m_multiBody->getBaseCollider()); + setBLinkIndex.push_back(-1); + } + for (int i = 0; i < bodyB->m_multiBody->getNumLinks(); i++) + { + if (bodyB->m_multiBody->getLink(i).m_collider) + { + setB.push_back(bodyB->m_multiBody->getLink(i).m_collider); + setBLinkIndex.push_back(i); + } + } + } + if (bodyB->m_rigidBody) + { + setB.push_back(bodyB->m_rigidBody); + setBLinkIndex.push_back(-1); + + } + } + } + + { + ///ContactResultCallback is used to report contact points + struct MyContactResultCallback : public btCollisionWorld::ContactResultCallback + { + //short int m_collisionFilterGroup; + //short int m_collisionFilterMask; + int m_bodyUniqueIdA; + int m_bodyUniqueIdB; + int m_linkIndexA; + int m_linkIndexB; + btScalar m_deltaTime; + + btAlignedObjectArray& m_cachedContactPoints; + + MyContactResultCallback(btAlignedObjectArray& pointCache) + :m_cachedContactPoints(pointCache) + { + } + + virtual ~MyContactResultCallback() + { + } + + virtual bool needsCollision(btBroadphaseProxy* proxy0) const + { + //bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0; + //collides = collides && (m_collisionFilterGroup & proxy0->m_collisionFilterMask); + //return collides; + return true; + } + + virtual btScalar addSingleResult(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper* colObj1Wrap, int partId1, int index1) + { + b3ContactPointData pt; + pt.m_bodyUniqueIdA = m_bodyUniqueIdA; + pt.m_bodyUniqueIdB = m_bodyUniqueIdB; + const btManifoldPoint& srcPt = cp; + pt.m_contactDistance = srcPt.getDistance(); + pt.m_contactFlags = 0; + pt.m_linkIndexA = m_linkIndexA; + pt.m_linkIndexB = m_linkIndexB; + for (int j = 0; j < 3; j++) + { + pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j]; + pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j]; + pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j]; + } + pt.m_normalForce = srcPt.getAppliedImpulse() / m_deltaTime; + // pt.m_linearFrictionForce = srcPt.m_appliedImpulseLateral1; + m_cachedContactPoints.push_back(pt); + + return 1; + } + }; + + + MyContactResultCallback cb(m_data->m_cachedContactPoints); + + cb.m_bodyUniqueIdA = bodyUniqueIdA; + cb.m_bodyUniqueIdB = bodyUniqueIdB; + cb.m_deltaTime = m_data->m_physicsDeltaTime; + + for (int i = 0; i < setA.size(); i++) + { + cb.m_linkIndexA = setALinkIndex[i]; + for (int j = 0; j < setB.size(); j++) + { + cb.m_linkIndexB = setBLinkIndex[j]; + cb.m_closestDistanceThreshold = closestDistanceThreshold; + this->m_data->m_dynamicsWorld->contactPairTest(setA[i], setB[j], cb); + } + } + } + + break; + } + default: + { + b3Warning("Unknown contact query mode: %d", mode); + } + + } + } int numContactPoints = m_data->m_cachedContactPoints.size(); diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 77eaa6cd9..eec1bdbfc 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -969,6 +969,23 @@ void PhysicsServerExample::renderScene() static char line0[1024]; static char line1[1024]; + //draw all user-debug-lines + + //add array of lines + + //draw all user- 'text3d' messages + if (m_guiHelper) + { + btVector3 from(0, 0, 0); + btVector3 toX(1, 1, 1); + btVector3 color(0, 1, 0); + double width = 2; + m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, width); + + m_guiHelper->getAppInterface()->drawText3D("hi", 1, 1, 1, 1); + } + + if (gEnableRealTimeSimVR) { diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 8680acd18..2ba38f232 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -143,11 +143,21 @@ enum EnumRequestPixelDataUpdateFlags }; +enum EnumRequestContactDataUpdateFlags +{ + CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE=1, + CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD=2, +}; + struct RequestContactDataArgs { int m_startingContactPointIndex; int m_objectAIndexFilter; int m_objectBIndexFilter; + double m_closestDistanceThreshold; + double m_aabbQueryMin[3]; + double m_aabbQueryMax[3]; + int m_mode; }; struct RequestVisualShapeDataArgs diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 7b0a967bc..4f55d5520 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -80,6 +80,8 @@ enum EnumSharedMemoryServerStatus CMD_CALCULATED_JACOBIAN_FAILED, CMD_CONTACT_POINT_INFORMATION_COMPLETED, CMD_CONTACT_POINT_INFORMATION_FAILED, + CMD_AABB_OVERLAP_COMPLETED, + CMD_AABB_OVERLAP_FAILED, CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED, CMD_CALCULATE_INVERSE_KINEMATICS_FAILED, CMD_SAVE_WORLD_COMPLETED, @@ -158,6 +160,13 @@ struct b3DebugLines const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'. }; +struct b3AABBOverlapData +{ + int m_numOverlappingObjects; + int* m_objectUniqueIds; + int* m_links; +}; + struct b3CameraImageData { int m_pixelWidth; @@ -192,6 +201,14 @@ struct b3ContactPointData // double m_angularFrictionForce; }; +enum +{ + CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0, + CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1, + CONTACT_QUERY_MODE_AABB_OVERLAP = 2, +}; + + struct b3ContactInformation { diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index af8eacdf7..f68538a58 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -680,6 +680,12 @@ static int pybullet_internalGetBasePositionAndOrientation( baseOrientation[2] = 0.; baseOrientation[3] = 1.; + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + Py_INCREF(Py_None); + return Py_None; + } + { { b3SharedMemoryCommandHandle cmd_handle = @@ -1352,6 +1358,10 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args) int i; PyObject* pyResultList = 0; + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } if (size == 1) { if (!PyArg_ParseTuple(args, "i", &objectUniqueId)) { @@ -1450,6 +1460,11 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args) b3SharedMemoryStatusHandle statusHandle; int statusType; + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + if (size == 4) { if (!PyArg_ParseTuple(args, "iiii", &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId)) { @@ -1487,6 +1502,11 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args) b3SharedMemoryStatusHandle statusHandle; int statusType; + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + if (size == 1) { if (!PyArg_ParseTuple(args, "s", &filename)) { @@ -1516,38 +1536,10 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args) return Py_None; } -static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args) { - int size = PySequence_Size(args); - int objectUniqueIdA = -1; - int objectUniqueIdB = -1; - b3SharedMemoryCommandHandle commandHandle; - struct b3ContactInformation contactPointData; - b3SharedMemoryStatusHandle statusHandle; - int statusType; - int i; - PyObject* pyResultList = 0; - if (size == 1) { - if (!PyArg_ParseTuple(args, "i", &objectUniqueIdA)) { - PyErr_SetString(SpamError, "Error parsing object unique id"); - return NULL; - } - } - if (size == 2) { - if (!PyArg_ParseTuple(args, "ii", &objectUniqueIdA, &objectUniqueIdB)) { - PyErr_SetString(SpamError, "Error parsing object unique id"); - return NULL; - } - } - - commandHandle = b3InitRequestContactPointInformation(sm); - b3SetContactFilterBodyA(commandHandle, objectUniqueIdA); - b3SetContactFilterBodyB(commandHandle, objectUniqueIdB); - - statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); - statusType = b3GetStatusType(statusHandle); - if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED) { - /* +static PyObject* MyConvertContactPoint( struct b3ContactInformation* contactPointPtr) +{ + /* 0 int m_contactFlags; 1 int m_bodyUniqueIdA; 2 int m_bodyUniqueIdB; @@ -1565,66 +1557,188 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args) { 15 double m_normalForce; */ - b3GetContactPointInformation(sm, &contactPointData); - pyResultList = PyTuple_New(contactPointData.m_numContactPoints); - for (i = 0; i < contactPointData.m_numContactPoints; i++) { + int i; + + PyObject* pyResultList = PyTuple_New(contactPointPtr->m_numContactPoints); + for (i = 0; i < contactPointPtr->m_numContactPoints; i++) { PyObject* contactObList = PyTuple_New(16); // see above 16 fields PyObject* item; item = - PyInt_FromLong(contactPointData.m_contactPointData[i].m_contactFlags); + PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_contactFlags); PyTuple_SetItem(contactObList, 0, item); item = PyInt_FromLong( - contactPointData.m_contactPointData[i].m_bodyUniqueIdA); + contactPointPtr->m_contactPointData[i].m_bodyUniqueIdA); PyTuple_SetItem(contactObList, 1, item); item = PyInt_FromLong( - contactPointData.m_contactPointData[i].m_bodyUniqueIdB); + contactPointPtr->m_contactPointData[i].m_bodyUniqueIdB); PyTuple_SetItem(contactObList, 2, item); item = - PyInt_FromLong(contactPointData.m_contactPointData[i].m_linkIndexA); + PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_linkIndexA); PyTuple_SetItem(contactObList, 3, item); item = - PyInt_FromLong(contactPointData.m_contactPointData[i].m_linkIndexB); + PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_linkIndexB); PyTuple_SetItem(contactObList, 4, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_positionOnAInWS[0]); + contactPointPtr->m_contactPointData[i].m_positionOnAInWS[0]); PyTuple_SetItem(contactObList, 5, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_positionOnAInWS[1]); + contactPointPtr->m_contactPointData[i].m_positionOnAInWS[1]); PyTuple_SetItem(contactObList, 6, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_positionOnAInWS[2]); + contactPointPtr->m_contactPointData[i].m_positionOnAInWS[2]); PyTuple_SetItem(contactObList, 7, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_positionOnBInWS[0]); + contactPointPtr->m_contactPointData[i].m_positionOnBInWS[0]); PyTuple_SetItem(contactObList, 8, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_positionOnBInWS[1]); + contactPointPtr->m_contactPointData[i].m_positionOnBInWS[1]); PyTuple_SetItem(contactObList, 9, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_positionOnBInWS[2]); + contactPointPtr->m_contactPointData[i].m_positionOnBInWS[2]); PyTuple_SetItem(contactObList, 10, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_contactNormalOnBInWS[0]); + contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[0]); PyTuple_SetItem(contactObList, 11, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_contactNormalOnBInWS[1]); + contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[1]); PyTuple_SetItem(contactObList, 12, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_contactNormalOnBInWS[2]); + contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[2]); PyTuple_SetItem(contactObList, 13, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_contactDistance); + contactPointPtr->m_contactPointData[i].m_contactDistance); PyTuple_SetItem(contactObList, 14, item); item = PyFloat_FromDouble( - contactPointData.m_contactPointData[i].m_normalForce); + contactPointPtr->m_contactPointData[i].m_normalForce); PyTuple_SetItem(contactObList, 15, item); PyTuple_SetItem(pyResultList, i, contactObList); } return pyResultList; +} + +static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args, PyObject *keywds) +{ + PyObject* aabbMinOb=0, *aabbMaxOb=0; + double aabbMin[3]; + double aabbMax[3]; + b3SharedMemoryCommandHandle commandHandle; + b3SharedMemoryStatusHandle statusHandle; + struct b3AABBOverlapData overlapData; + + static char *kwlist[] = { "aabbMin", "aabbMax", NULL }; + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO", kwlist, + &aabbMinOb, &aabbMaxOb)) + return NULL; + + pybullet_internalSetVectord(aabbMinOb, aabbMin); + pybullet_internalSetVectord(aabbMaxOb, aabbMax); + + commandHandle = b3InitAABBOverlapQuery(sm, aabbMin, aabbMax); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + b3GetAABBOverlapResults(sm, &overlapData); + + + Py_INCREF(Py_None); + return Py_None; +} + + +static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, PyObject *keywds) +{ + int size = PySequence_Size(args); + int bodyUniqueIdA = -1; + int bodyUniqueIdB = -1; + double distanceThreshold = 0.f; + + b3SharedMemoryCommandHandle commandHandle; + struct b3ContactInformation contactPointData; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + PyObject* pyResultList = 0; + + + static char *kwlist[] = { "bodyA", "bodyB", "distance", NULL }; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid", kwlist, + &bodyUniqueIdA, &bodyUniqueIdB, &distanceThreshold)) + return NULL; + + + commandHandle = b3InitClosestDistanceQuery(sm); + b3SetClosestDistanceFilterBodyA(commandHandle, bodyUniqueIdA); + b3SetClosestDistanceFilterBodyB(commandHandle, bodyUniqueIdB); + b3SetClosestDistanceThreshold(commandHandle, distanceThreshold); + + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED) { + + + b3GetContactPointInformation(sm, &contactPointData); + + return MyConvertContactPoint(&contactPointData); + + } + + Py_INCREF(Py_None); + return Py_None; +} + + + +static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) { + int size = PySequence_Size(args); + int bodyUniqueIdA = -1; + int bodyUniqueIdB = -1; + + b3SharedMemoryCommandHandle commandHandle; + struct b3ContactInformation contactPointData; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + int i; + PyObject* pyResultList = 0; + + + static char *kwlist[] = { "bodyA", "bodyB", NULL }; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "|ii", kwlist, + &bodyUniqueIdA, &bodyUniqueIdB)) + return NULL; + + + commandHandle = b3InitRequestContactPointInformation(sm); + b3SetContactFilterBodyA(commandHandle, bodyUniqueIdA); + b3SetContactFilterBodyB(commandHandle, bodyUniqueIdB); + //b3SetContactQueryMode(commandHandle, mode); + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED) { + + b3GetContactPointInformation(sm, &contactPointData); + + return MyConvertContactPoint(&contactPointData); + } Py_INCREF(Py_None); @@ -2447,11 +2561,21 @@ static PyMethodDef SpamMethods[] = { #endif }, - {"getContactPointData", pybullet_getContactPointData, METH_VARARGS, - "Return the contact point information for all or some of pairwise " - "object-object collisions. Optional arguments one or two object unique " + {"getContactPoints", pybullet_getContactPointData, METH_VARARGS | METH_KEYWORDS, + "Return existing contact points after the stepSimulation command. " + "Optional arguments one or two object unique " "ids, that need to be involved in the contact."}, + {"getClosestPoints", pybullet_getClosestPointData, METH_VARARGS | METH_KEYWORDS, + "Compute the closest points between two objects, if the distance is below a given threshold." + "Input is two objects unique ids and distance threshold." + }, + + { "getOverlappingObjects", pybullet_getOverlappingObjects, METH_VARARGS | METH_KEYWORDS, + "Return all the objects that have overlap with a given " + "axis-aligned bounding box volume (AABB)." + "Input are two vectors defining the AABB in world space [min_x,min_y,min_z],[max_x,max_y,max_z]." + }, {"getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS, "Return the visual shape information for one object." }, @@ -2486,6 +2610,7 @@ static PyMethodDef SpamMethods[] = { // loadSnapshot // raycast info // object names + // collision query {NULL, NULL, 0, NULL} /* Sentinel */ }; @@ -2541,6 +2666,9 @@ initpybullet(void) PyModule_AddIntConstant(m, "LINK_FRAME", EF_LINK_FRAME); PyModule_AddIntConstant(m, "WORLD_FRAME", EF_WORLD_FRAME); + PyModule_AddIntConstant(m, "CONTACT_REPORT_EXISTING", CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS); + PyModule_AddIntConstant(m, "CONTACT_RECOMPUTE_CLOSEST", CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS); + SpamError = PyErr_NewException("pybullet.error", NULL, NULL); Py_INCREF(SpamError); PyModule_AddObject(m, "error", SpamError); diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index fa4cac660..ea7dc86c4 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -1252,6 +1252,7 @@ void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionOb if (algorithm) { btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback); + contactPointResult.m_closestPointDistanceThreshold = resultCallback.m_closestDistanceThreshold; //discrete collision detection query algorithm->processCollision(&obA,&obB, getDispatchInfo(),&contactPointResult); diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.h b/src/BulletCollision/CollisionDispatch/btCollisionWorld.h index be9eca61a..29d371116 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.h @@ -412,10 +412,12 @@ public: { short int m_collisionFilterGroup; short int m_collisionFilterMask; - + btScalar m_closestDistanceThreshold; + ContactResultCallback() :m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter), - m_collisionFilterMask(btBroadphaseProxy::AllFilter) + m_collisionFilterMask(btBroadphaseProxy::AllFilter), + m_closestDistanceThreshold(0) { } diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp index ab2632ee3..fcaa9f851 100644 --- a/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp @@ -161,6 +161,13 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0); childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1); + btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold); + + aabbMin0 -= thresholdVec; + aabbMin1 -= thresholdVec; + aabbMax0 += thresholdVec; + aabbMax1 += thresholdVec; + if (gCompoundCompoundChildShapePairCallback) { if (!gCompoundCompoundChildShapePairCallback(childShape0,childShape1)) @@ -217,10 +224,12 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide static DBVT_INLINE bool MyIntersect( const btDbvtAabbMm& a, - const btDbvtAabbMm& b, const btTransform& xform) + const btDbvtAabbMm& b, const btTransform& xform, btScalar distanceThreshold) { btVector3 newmin,newmax; btTransformAabb(b.Mins(),b.Maxs(),0.f,xform,newmin,newmax); + newmin -= btVector3(distanceThreshold, distanceThreshold, distanceThreshold); + newmax += btVector3(distanceThreshold, distanceThreshold, distanceThreshold); btDbvtAabbMm newb = btDbvtAabbMm::FromMM(newmin,newmax); return Intersect(a,newb); } @@ -229,7 +238,7 @@ static DBVT_INLINE bool MyIntersect( const btDbvtAabbMm& a, static inline void MycollideTT( const btDbvtNode* root0, const btDbvtNode* root1, const btTransform& xform, - btCompoundCompoundLeafCallback* callback) + btCompoundCompoundLeafCallback* callback, btScalar distanceThreshold) { if(root0&&root1) @@ -241,7 +250,7 @@ static inline void MycollideTT( const btDbvtNode* root0, stkStack[0]=btDbvt::sStkNN(root0,root1); do { btDbvt::sStkNN p=stkStack[--depth]; - if(MyIntersect(p.a->volume,p.b->volume,xform)) + if(MyIntersect(p.a->volume,p.b->volume,xform, distanceThreshold)) { if(depth>treshold) { @@ -343,7 +352,7 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb const btTransform xform=col0ObjWrap->getWorldTransform().inverse()*col1ObjWrap->getWorldTransform(); - MycollideTT(tree0->m_root,tree1->m_root,xform,&callback); + MycollideTT(tree0->m_root,tree1->m_root,xform,&callback, resultOut->m_closestPointDistanceThreshold); //printf("#compound-compound child/leaf overlap =%d \r",callback.m_numOverlapPairs); @@ -383,7 +392,9 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb newChildWorldTrans0 = orgTrans0*childTrans0 ; childShape0->getAabb(newChildWorldTrans0,aabbMin0,aabbMax0); } - + btVector3 thresholdVec(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold); + aabbMin0 -= thresholdVec; + aabbMax0 += thresholdVec; { btTransform orgInterpolationTrans1; const btCollisionShape* childShape1 = 0; @@ -398,7 +409,8 @@ void btCompoundCompoundCollisionAlgorithm::processCollision (const btCollisionOb childShape1->getAabb(newChildWorldTrans1,aabbMin1,aabbMax1); } - + aabbMin1 -= thresholdVec; + aabbMax1 += thresholdVec; if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1)) { diff --git a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp index 80d294895..bc23fdb98 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp @@ -365,7 +365,7 @@ void btConvexConvexAlgorithm ::processCollision (const btCollisionObjectWrapper* // input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactProcessingThreshold(); //} else //{ - input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold(); + input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold()+resultOut->m_closestPointDistanceThreshold; // } input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared; diff --git a/src/BulletCollision/CollisionDispatch/btManifoldResult.h b/src/BulletCollision/CollisionDispatch/btManifoldResult.h index 55b6380a5..86bbc3f72 100644 --- a/src/BulletCollision/CollisionDispatch/btManifoldResult.h +++ b/src/BulletCollision/CollisionDispatch/btManifoldResult.h @@ -49,17 +49,19 @@ protected: int m_index0; int m_index1; - + public: btManifoldResult() -#ifdef DEBUG_PART_INDEX : +#ifdef DEBUG_PART_INDEX + m_partId0(-1), m_partId1(-1), m_index0(-1), m_index1(-1) #endif //DEBUG_PART_INDEX + m_closestPointDistanceThreshold(0) { } @@ -142,6 +144,8 @@ public: return m_body1Wrap->getCollisionObject(); } + btScalar m_closestPointDistanceThreshold; + /// in the future we can let the user override the methods to combine restitution and friction static btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1); static btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1); diff --git a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp index 36ba21f5b..41f37ddf2 100644 --- a/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp @@ -62,7 +62,7 @@ void btSphereSphereCollisionAlgorithm::processCollision (const btCollisionObject #endif ///iff distance positive, don't generate a new contact - if ( len > (radius0+radius1)) + if ( len > (radius0+radius1+resultOut->m_closestPointDistanceThreshold)) { #ifndef CLEAR_MANIFOLD resultOut->refreshContactPoints(); From b16d9abddd5bfcaa3b49dc23ae25b3c57682fb78 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 9 Nov 2016 22:14:04 -0800 Subject: [PATCH 030/102] center the gripper fix collision issue, introduced in previous commit (uninitialized new variable) --- .../PhysicsServerCommandProcessor.cpp | 26 ++++++++++++++++--- .../CollisionDispatch/btManifoldResult.cpp | 1 + 2 files changed, 23 insertions(+), 4 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 402cdd84d..5e3d94f72 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3828,6 +3828,8 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() { m_data->m_gripperRigidbodyFixed->setFrameInB(btMatrix3x3(gVRGripperOrn)); m_data->m_gripperRigidbodyFixed->setPivotInB(gVRGripperPos); + btScalar avg = 0.f; + for (int i = 0; i < m_data->m_gripperMultiBody->getNumLinks(); i++) { if (supportsJointMotor(m_data->m_gripperMultiBody, i)) @@ -3838,7 +3840,14 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() motor->setErp(0.2); btScalar posTarget = 0.1 + (1 - btMin(btScalar(0.75),gVRGripperAnalog)*btScalar(1.5))*SIMD_HALF_PI*0.29; btScalar maxPosTarget = 0.55; - + + btScalar correction = 0.f; + + if (avg) + { + correction = m_data->m_gripperMultiBody->getJointPos(i) - avg; + } + if (m_data->m_gripperMultiBody->getJointPos(i) < 0) { m_data->m_gripperMultiBody->setJointPos(i,0); @@ -3848,10 +3857,19 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() m_data->m_gripperMultiBody->setJointPos(i, maxPosTarget); } - motor->setPositionTarget(posTarget, 1); + if (avg) + { + motor->setPositionTarget(avg, 1); + } + else + { + motor->setPositionTarget(posTarget - correction*5., 1); + } motor->setVelocityTarget(0, 0.5); - btScalar maxImp = 1*m_data->m_physicsDeltaTime; + btScalar maxImp = (1+0.1*i)*m_data->m_physicsDeltaTime; motor->setMaxAppliedImpulse(maxImp); + avg = m_data->m_gripperMultiBody->getJointPos(i); + //motor->setRhsClamp(gRhsClamp); } } @@ -3859,7 +3877,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() } // Inverse kinematics for KUKA - //if (0) + if (m_data->m_KukaId>=0) { InternalBodyHandle* bodyHandle = m_data->getHandle(m_data->m_KukaId); if (bodyHandle && bodyHandle->m_multiBody && bodyHandle->m_multiBody->getNumDofs()==7) diff --git a/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp b/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp index 96c1eb5d5..be8e51d52 100644 --- a/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp +++ b/src/BulletCollision/CollisionDispatch/btManifoldResult.cpp @@ -96,6 +96,7 @@ btManifoldResult::btManifoldResult(const btCollisionObjectWrapper* body0Wrap,con m_index0(-1), m_index1(-1) #endif //DEBUG_PART_INDEX + , m_closestPointDistanceThreshold(0) { } From 9b5aa9a72382a5e29c678b3570b1c590d503d896 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Thu, 10 Nov 2016 11:22:22 -0800 Subject: [PATCH 031/102] pybullet getOverlappingObjects added: report all object unique ids within a world space bounding box (aabb) --- examples/SharedMemory/PhysicsClient.h | 2 + examples/SharedMemory/PhysicsClientC_API.cpp | 35 ++-- .../PhysicsClientSharedMemory.cpp | 46 ++++- .../SharedMemory/PhysicsClientSharedMemory.h | 2 + examples/SharedMemory/PhysicsDirect.cpp | 70 +++++++- examples/SharedMemory/PhysicsDirect.h | 5 + examples/SharedMemory/PhysicsLoopBack.cpp | 8 +- examples/SharedMemory/PhysicsLoopBack.h | 2 + .../PhysicsServerCommandProcessor.cpp | 168 +++++++++++------- examples/SharedMemory/SharedMemoryCommands.h | 16 +- examples/SharedMemory/SharedMemoryPublic.h | 15 +- examples/pybullet/pybullet.c | 29 ++- 12 files changed, 299 insertions(+), 99 deletions(-) diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h index f028f537f..e1c20cadb 100644 --- a/examples/SharedMemory/PhysicsClient.h +++ b/examples/SharedMemory/PhysicsClient.h @@ -48,6 +48,8 @@ public: virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData)=0; + virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects) = 0; + virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo) = 0; }; diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 8dcfdebd1..f95ff129a 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1310,28 +1310,31 @@ void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, do ///get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates) b3SharedMemoryCommandHandle b3InitAABBOverlapQuery(b3PhysicsClientHandle physClient, const double aabbMin[3], const double aabbMax[3]) { - b3SharedMemoryCommandHandle commandHandle = b3InitRequestContactPointInformation(physClient); - struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + PhysicsClient* cl = (PhysicsClient*)physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); b3Assert(command); - b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION); - command->m_updateFlags = CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE; - command->m_requestContactPointArguments.m_mode = CONTACT_QUERY_MODE_AABB_OVERLAP; + command->m_type = CMD_REQUEST_AABB_OVERLAP; + command->m_updateFlags = 0; + command->m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex = 0; + command->m_requestOverlappingObjectsArgs.m_aabbQueryMin[0] = aabbMin[0]; + command->m_requestOverlappingObjectsArgs.m_aabbQueryMin[1] = aabbMin[1]; + command->m_requestOverlappingObjectsArgs.m_aabbQueryMin[2] = aabbMin[2]; - command->m_requestContactPointArguments.m_aabbQueryMin[0] = aabbMin[0]; - command->m_requestContactPointArguments.m_aabbQueryMin[1] = aabbMin[1]; - command->m_requestContactPointArguments.m_aabbQueryMin[2] = aabbMin[2]; - - command->m_requestContactPointArguments.m_aabbQueryMax[0] = aabbMax[0]; - command->m_requestContactPointArguments.m_aabbQueryMax[1] = aabbMax[1]; - command->m_requestContactPointArguments.m_aabbQueryMax[2] = aabbMax[2]; - - return commandHandle; + command->m_requestOverlappingObjectsArgs.m_aabbQueryMax[0] = aabbMax[0]; + command->m_requestOverlappingObjectsArgs.m_aabbQueryMax[1] = aabbMax[1]; + command->m_requestOverlappingObjectsArgs.m_aabbQueryMax[2] = aabbMax[2]; + return (b3SharedMemoryCommandHandle)command; } void b3GetAABBOverlapResults(b3PhysicsClientHandle physClient, struct b3AABBOverlapData* data) { - data->m_numOverlappingObjects = 0; -// data->m_objectUniqueIds + PhysicsClient* cl = (PhysicsClient*)physClient; + if (cl) + { + cl->getCachedOverlappingObjects(data); + } } diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 109b66b9c..0a3d198eb 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -40,7 +40,7 @@ struct PhysicsClientSharedMemoryInternalData { btAlignedObjectArray m_cachedSegmentationMaskBuffer; btAlignedObjectArray m_cachedContactPoints; - + btAlignedObjectArray m_cachedOverlappingObjects; btAlignedObjectArray m_cachedVisualShapes; btAlignedObjectArray m_bodyIdsRequestInfo; @@ -596,6 +596,30 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { b3Warning("Inverse Dynamics computations failed"); break; } + case CMD_REQUEST_AABB_OVERLAP_FAILED: + { + b3Warning("Overlapping object query failed"); + break; + } + case CMD_REQUEST_AABB_OVERLAP_COMPLETED: + { + if (m_data->m_verboseOutput) + { + b3Printf("Overlapping object request completed"); + } + + int startOverlapIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex; + int numOverlapCopied = serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied; + m_data->m_cachedOverlappingObjects.resize(startOverlapIndex + numOverlapCopied); + b3OverlappingObject* objects = (b3OverlappingObject*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor; + + for (int i = 0; i < numOverlapCopied; i++) + { + m_data->m_cachedOverlappingObjects[startOverlapIndex + i] = objects[i]; + } + + break; + } case CMD_CONTACT_POINT_INFORMATION_COMPLETED: { if (m_data->m_verboseOutput) @@ -740,6 +764,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { m_data->m_lastServerStatus = m_data->m_tempBackupServerStatus; } } + + if (serverCmd.m_type == CMD_REQUEST_AABB_OVERLAP_COMPLETED) + { + SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; + if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied) + { + command.m_type = CMD_REQUEST_AABB_OVERLAP; + command.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex + serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied; + submitClientCommand(command); + return 0; + } + } if (serverCmd.m_type == CMD_CONTACT_POINT_INFORMATION_COMPLETED) { @@ -873,6 +909,14 @@ void PhysicsClientSharedMemory::getCachedContactPointInformation(struct b3Contac } +void PhysicsClientSharedMemory::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects) +{ + overlappingObjects->m_numOverlappingObjects = m_data->m_cachedOverlappingObjects.size(); + overlappingObjects->m_overlappingObjects = m_data->m_cachedOverlappingObjects.size() ? + &m_data->m_cachedOverlappingObjects[0] : 0; +} + + void PhysicsClientSharedMemory::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo) { visualShapesInfo->m_numVisualShapes = m_data->m_cachedVisualShapes.size(); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h index 1ebe5bccd..d5f6b3cff 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.h +++ b/examples/SharedMemory/PhysicsClientSharedMemory.h @@ -57,6 +57,8 @@ public: virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData); + virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects); + virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo); }; diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index db408e529..b54485f66 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -44,7 +44,8 @@ struct PhysicsDirectInternalData btAlignedObjectArray m_cachedSegmentationMask; btAlignedObjectArray m_cachedContactPoints; - + btAlignedObjectArray m_cachedOverlappingObjects; + btAlignedObjectArray m_cachedVisualShapes; PhysicsCommandProcessorInterface* m_commandProcessor; @@ -309,6 +310,60 @@ bool PhysicsDirect::processVisualShapeData(const struct SharedMemoryCommand& org return m_data->m_hasStatus; } +bool PhysicsDirect::processOverlappingObjects(const struct SharedMemoryCommand& orgCommand) +{ + SharedMemoryCommand command = orgCommand; + + const SharedMemoryStatus& serverCmd = m_data->m_serverStatus; + + do + { + bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); + + int timeout = 1024 * 1024 * 1024; + while ((!hasStatus) && (timeout-- > 0)) + { + const SharedMemoryStatus* stat = processServerStatus(); + if (stat) + { + hasStatus = true; + } + } + + + m_data->m_hasStatus = hasStatus; + if (hasStatus) + { + if (m_data->m_verboseOutput) + { + b3Printf("Overlapping Objects Request OK\n"); + } + + int startOverlapIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex; + int numOverlapCopied = serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied; + m_data->m_cachedOverlappingObjects.resize(startOverlapIndex + numOverlapCopied); + b3OverlappingObject* objects = (b3OverlappingObject*)&m_data->m_bulletStreamDataServerToClient[0]; + + for (int i = 0; i < numOverlapCopied; i++) + { + m_data->m_cachedOverlappingObjects[startOverlapIndex + i] = objects[i]; + } + + if (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied) + { + m_data->m_hasStatus = false; + command.m_type = CMD_REQUEST_AABB_OVERLAP; + command.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex = serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex + serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied; + } + + } + } while (serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects > 0 && serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied); + + return m_data->m_hasStatus; + +} + + bool PhysicsDirect::processContactPointData(const struct SharedMemoryCommand& orgCommand) { @@ -525,6 +580,7 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd { switch (serverCmd.m_type) { + case CMD_REQUEST_INTERNAL_DATA_COMPLETED: { if (serverCmd.m_numDataStreamBytes) @@ -635,6 +691,10 @@ bool PhysicsDirect::submitClientCommand(const struct SharedMemoryCommand& comman { return processVisualShapeData(command); } + if (command.m_type == CMD_REQUEST_AABB_OVERLAP) + { + return processOverlappingObjects(command); + } bool hasStatus = m_data->m_commandProcessor->processCommand(command,m_data->m_serverStatus,&m_data->m_bulletStreamDataServerToClient[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE); m_data->m_hasStatus = hasStatus; @@ -761,6 +821,14 @@ void PhysicsDirect::getCachedContactPointInformation(struct b3ContactInformation } +void PhysicsDirect::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects) +{ + overlappingObjects->m_numOverlappingObjects = m_data->m_cachedOverlappingObjects.size(); + overlappingObjects->m_overlappingObjects = m_data->m_cachedOverlappingObjects.size() ? + &m_data->m_cachedOverlappingObjects[0] : 0; +} + + void PhysicsDirect::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo) { visualShapesInfo->m_numVisualShapes = m_data->m_cachedVisualShapes.size(); diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h index 968f8f560..963281f7e 100644 --- a/examples/SharedMemory/PhysicsDirect.h +++ b/examples/SharedMemory/PhysicsDirect.h @@ -20,6 +20,8 @@ protected: bool processContactPointData(const struct SharedMemoryCommand& orgCommand); + bool processOverlappingObjects(const struct SharedMemoryCommand& orgCommand); + bool processVisualShapeData(const struct SharedMemoryCommand& orgCommand); void processBodyJointInfo(int bodyUniqueId, const struct SharedMemoryStatus& serverCmd); @@ -75,8 +77,11 @@ public: virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData); + virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects); + virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo); + //those 2 APIs are for internal use for visualization virtual bool connect(struct GUIHelperInterface* guiHelper); virtual void renderScene(); diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp index f669dde30..3e9c3d77d 100644 --- a/examples/SharedMemory/PhysicsLoopBack.cpp +++ b/examples/SharedMemory/PhysicsLoopBack.cpp @@ -144,4 +144,10 @@ void PhysicsLoopBack::getCachedContactPointInformation(struct b3ContactInformati void PhysicsLoopBack::getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo) { return m_data->m_physicsClient->getCachedVisualShapeInformation(visualShapesInfo); -} \ No newline at end of file +} + +void PhysicsLoopBack::getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects) +{ + return m_data->m_physicsClient->getCachedOverlappingObjects(overlappingObjects); +} + diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h index 42acca718..c9187c4b8 100644 --- a/examples/SharedMemory/PhysicsLoopBack.h +++ b/examples/SharedMemory/PhysicsLoopBack.h @@ -62,6 +62,8 @@ public: virtual void getCachedContactPointInformation(struct b3ContactInformation* contactPointData); + virtual void getCachedOverlappingObjects(struct b3AABBOverlapData* overlappingObjects); + virtual void getCachedVisualShapeInformation(struct b3VisualShapeInformation* visualShapesInfo); }; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 5e3d94f72..28ed1a81d 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -318,6 +318,45 @@ struct SaveWorldObjectData std::string m_fileName; }; +struct MyBroadphaseCallback : public btBroadphaseAabbCallback +{ + b3AlignedObjectArray m_bodyUniqueIds; + b3AlignedObjectArray m_links; + + + MyBroadphaseCallback() + { + } + virtual ~MyBroadphaseCallback() + { + } + void clear() + { + m_bodyUniqueIds.clear(); + m_links.clear(); + } + virtual bool process(const btBroadphaseProxy* proxy) + { + btCollisionObject* colObj = (btCollisionObject*)proxy->m_clientObject; + btMultiBodyLinkCollider* mbl = btMultiBodyLinkCollider::upcast(colObj); + if (mbl) + { + int bodyUniqueId = mbl->m_multiBody->getUserIndex2(); + m_bodyUniqueIds.push_back(bodyUniqueId); + m_links.push_back(mbl->m_link); + return true; + } + int bodyUniqueId = colObj->getUserIndex2(); + if (bodyUniqueId >= 0) + { + m_bodyUniqueIds.push_back(bodyUniqueId); + m_links.push_back(mbl->m_link); + } + return true; + } +}; + + struct PhysicsServerCommandProcessorInternalData { ///handle management @@ -453,6 +492,8 @@ struct PhysicsServerCommandProcessorInternalData SharedMemoryDebugDrawer* m_remoteDebugDrawer; btAlignedObjectArray m_cachedContactPoints; + MyBroadphaseCallback m_cachedOverlappingObjects; + btAlignedObjectArray m_sdfRecentLoadedBodies; @@ -2535,6 +2576,62 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm hasStatus = true; break; } + case CMD_REQUEST_AABB_OVERLAP: + { + SharedMemoryStatus& serverCmd = serverStatusOut; + int curObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex; + + if (0== curObjectIndex) + { + //clientCmd.m_requestContactPointArguments.m_aabbQueryMin + btVector3 aabbMin, aabbMax; + aabbMin.setValue(clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMin[0], + clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMin[1], + clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMin[2]); + aabbMax.setValue(clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMax[0], + clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMax[1], + clientCmd.m_requestOverlappingObjectsArgs.m_aabbQueryMax[2]); + + m_data->m_cachedOverlappingObjects.clear(); + + m_data->m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin, aabbMax, m_data->m_cachedOverlappingObjects); + } + + + int totalBytesPerObject = sizeof(b3OverlappingObject); + int overlapCapacity = bufferSizeInBytes / totalBytesPerObject - 1; + int numOverlap = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size(); + int remainingObjects = numOverlap - curObjectIndex; + + int curNumObjects = btMin(overlapCapacity, remainingObjects); + + if (numOverlap < overlapCapacity) + { + + b3OverlappingObject* overlapStorage = (b3OverlappingObject*)bufferServerToClient; + for (int i = 0; i < m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size(); i++) + { + overlapStorage[i].m_objectUniqueId = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds[i]; + overlapStorage[i].m_linkIndex = m_data->m_cachedOverlappingObjects.m_links[i]; + } + + serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_COMPLETED; + + int m_startingOverlappingObjectIndex; + int m_numOverlappingObjectsCopied; + int m_numRemainingOverlappingObjects; + serverCmd.m_sendOverlappingObjectsArgs.m_startingOverlappingObjectIndex = clientCmd.m_requestOverlappingObjectsArgs.m_startingOverlappingObjectIndex; + serverCmd.m_sendOverlappingObjectsArgs.m_numOverlappingObjectsCopied = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds.size(); + serverCmd.m_sendOverlappingObjectsArgs.m_numRemainingOverlappingObjects = remainingObjects - curNumObjects; + } + else + { + serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_FAILED; + } + + hasStatus = true; + break; + } case CMD_REQUEST_CONTACT_POINT_INFORMATION: { SharedMemoryStatus& serverCmd =serverStatusOut; @@ -2634,74 +2731,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } break; } - case CONTACT_QUERY_MODE_AABB_OVERLAP: - { - //clientCmd.m_requestContactPointArguments.m_aabbQueryMin - btVector3 aabbMin,aabbMax; - aabbMin.setValue(clientCmd.m_requestContactPointArguments.m_aabbQueryMin[0], - clientCmd.m_requestContactPointArguments.m_aabbQueryMin[1], - clientCmd.m_requestContactPointArguments.m_aabbQueryMin[2]); - aabbMax.setValue(clientCmd.m_requestContactPointArguments.m_aabbQueryMax[0], - clientCmd.m_requestContactPointArguments.m_aabbQueryMax[1], - clientCmd.m_requestContactPointArguments.m_aabbQueryMax[2]); - - struct MyBroadphaseCallback : public btBroadphaseAabbCallback - { - b3AlignedObjectArray m_bodyUniqueIds; - b3AlignedObjectArray m_links; - - - MyBroadphaseCallback() - { - } - virtual ~MyBroadphaseCallback() - { - } - virtual bool process(const btBroadphaseProxy* proxy) - { - btCollisionObject* colObj = (btCollisionObject*)proxy->m_clientObject; - btMultiBodyLinkCollider* mbl = btMultiBodyLinkCollider::upcast(colObj); - if (mbl) - { - int bodyUniqueId = mbl->m_multiBody->getUserIndex2(); - m_bodyUniqueIds.push_back(bodyUniqueId); - m_links.push_back(mbl->m_link); - return true; - } - int bodyUniqueId = colObj->getUserIndex2(); - if (bodyUniqueId >= 0) - { - m_bodyUniqueIds.push_back(bodyUniqueId); - m_links.push_back(mbl->m_link); - } - return true; - } - }; - - MyBroadphaseCallback callback; - - m_data->m_dynamicsWorld->getBroadphase()->aabbTest(aabbMin,aabbMax,callback); - - int totalBytesPerObject = 2 * sizeof(int); - int pairCapacity = bufferSizeInBytes / totalBytesPerObject - 1; - if (callback.m_bodyUniqueIds.size() < pairCapacity) - { - serverCmd.m_type = CMD_AABB_OVERLAP_COMPLETED; - int* pairStorage = (int*)bufferServerToClient; - for (int i = 0; i < callback.m_bodyUniqueIds.size(); i++) - { - pairStorage[i * 2] = callback.m_bodyUniqueIds[i]; - pairStorage[i * 2+1] = callback.m_links[i]; - } - } - else - { - serverCmd.m_type = CMD_AABB_OVERLAP_FAILED; - } - - hasStatus = true; - break; - } + case CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS: { //todo(erwincoumans) compute closest points between all, and vs all, pair @@ -3863,7 +3893,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() } else { - motor->setPositionTarget(posTarget - correction*5., 1); + motor->setPositionTarget(posTarget, 1); } motor->setVelocityTarget(0, 0.5); btScalar maxImp = (1+0.1*i)*m_data->m_physicsDeltaTime; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 2ba38f232..bdc2dd96e 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -155,9 +155,14 @@ struct RequestContactDataArgs int m_objectAIndexFilter; int m_objectBIndexFilter; double m_closestDistanceThreshold; + int m_mode; +}; + +struct RequestOverlappingObjectsArgs +{ + int m_startingOverlappingObjectIndex; double m_aabbQueryMin[3]; double m_aabbQueryMax[3]; - int m_mode; }; struct RequestVisualShapeDataArgs @@ -520,6 +525,7 @@ struct SharedMemoryCommand struct CalculateJacobianArgs m_calculateJacobianArguments; struct CreateJointArgs m_createJointArguments; struct RequestContactDataArgs m_requestContactPointArguments; + struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs; struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments; struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments; struct LoadTextureArgs m_loadTextureArguments; @@ -540,6 +546,13 @@ struct SendContactDataArgs int m_numRemainingContactPoints; }; +struct SendOverlappingObjectsArgs +{ + int m_startingOverlappingObjectIndex; + int m_numOverlappingObjectsCopied; + int m_numRemainingOverlappingObjects; +}; + struct SharedMemoryStatus { int m_type; @@ -562,6 +575,7 @@ struct SharedMemoryStatus struct CalculateInverseDynamicsResultArgs m_inverseDynamicsResultArgs; struct CalculateJacobianResultArgs m_jacobianResultArgs; struct SendContactDataArgs m_sendContactPointArgs; + struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs; struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs; struct SendVisualShapeDataArgs m_sendVisualShapeArgs; }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 4f55d5520..7f8179b6c 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -34,6 +34,7 @@ enum EnumSharedMemoryClientCommand CMD_CALCULATE_JACOBIAN, CMD_CREATE_JOINT, CMD_REQUEST_CONTACT_POINT_INFORMATION, + CMD_REQUEST_AABB_OVERLAP, CMD_SAVE_WORLD, CMD_REQUEST_VISUAL_SHAPE_INFO, CMD_UPDATE_VISUAL_SHAPE, @@ -80,8 +81,8 @@ enum EnumSharedMemoryServerStatus CMD_CALCULATED_JACOBIAN_FAILED, CMD_CONTACT_POINT_INFORMATION_COMPLETED, CMD_CONTACT_POINT_INFORMATION_FAILED, - CMD_AABB_OVERLAP_COMPLETED, - CMD_AABB_OVERLAP_FAILED, + CMD_REQUEST_AABB_OVERLAP_COMPLETED, + CMD_REQUEST_AABB_OVERLAP_FAILED, CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED, CMD_CALCULATE_INVERSE_KINEMATICS_FAILED, CMD_SAVE_WORLD_COMPLETED, @@ -160,11 +161,16 @@ struct b3DebugLines const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'. }; +struct b3OverlappingObject +{ + int m_objectUniqueId; + int m_linkIndex; +}; + struct b3AABBOverlapData { int m_numOverlappingObjects; - int* m_objectUniqueIds; - int* m_links; + struct b3OverlappingObject* m_overlappingObjects; }; struct b3CameraImageData @@ -205,7 +211,6 @@ enum { CONTACT_QUERY_MODE_REPORT_EXISTING_CONTACT_POINTS = 0, CONTACT_QUERY_MODE_COMPUTE_CLOSEST_POINTS = 1, - CONTACT_QUERY_MODE_AABB_OVERLAP = 2, }; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 6124f2f57..a38d427fd 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -682,8 +682,7 @@ static int pybullet_internalGetBasePositionAndOrientation( if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); - Py_INCREF(Py_None); - return Py_None; + return 0; } { @@ -1628,7 +1627,8 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args, b3SharedMemoryCommandHandle commandHandle; b3SharedMemoryStatusHandle statusHandle; struct b3AABBOverlapData overlapData; - + int i; + static char *kwlist[] = { "aabbMin", "aabbMax", NULL }; if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); @@ -1646,6 +1646,27 @@ static PyObject* pybullet_getOverlappingObjects(PyObject* self, PyObject* args, statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); b3GetAABBOverlapResults(sm, &overlapData); + if (overlapData.m_numOverlappingObjects) + { + PyObject* pyResultList = PyTuple_New(overlapData.m_numOverlappingObjects); + //For huge amount of overlap, we could use numpy instead (see camera pixel data) + //What would Python do with huge amount of data? Pass it onto TensorFlow! + + for (i = 0; i < overlapData.m_numOverlappingObjects; i++) { + PyObject* overlap = PyTuple_New(2);//body unique id and link index + + PyObject* item; + item = + PyInt_FromLong(overlapData.m_overlappingObjects[i].m_objectUniqueId); + PyTuple_SetItem(overlap, 0, item); + item = + PyInt_FromLong(overlapData.m_overlappingObjects[i].m_linkIndex); + PyTuple_SetItem(overlap, 1, item); + PyTuple_SetItem(pyResultList, i, overlap); + } + + return pyResultList; + } Py_INCREF(Py_None); return Py_None; @@ -1700,7 +1721,6 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py } - static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) { int size = PySequence_Size(args); int bodyUniqueIdA = -1; @@ -1710,7 +1730,6 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py struct b3ContactInformation contactPointData; b3SharedMemoryStatusHandle statusHandle; int statusType; - int i; PyObject* pyResultList = 0; From 02c781e56b6ebea980e2a52be91bcd8170954ff3 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Thu, 10 Nov 2016 15:42:55 -0800 Subject: [PATCH 032/102] disable dead code --- examples/MultiThreadedDemo/MultiThreadedDemo.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp index d07ef4ca2..d3a54856b 100644 --- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp +++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp @@ -199,7 +199,7 @@ void MultiThreadedDemo::createSceneObjects() } } } - +#if 0 if ( false ) { // destroyer ball @@ -211,6 +211,7 @@ void MultiThreadedDemo::createSceneObjects() btRigidBody* ballBody = localCreateRigidBody( 10000.f, sphereTrans, ball ); ballBody->setLinearVelocity( btVector3( 0, 0, -10 ) ); } +#endif m_guiHelper->autogenerateGraphicsObjects( m_dynamicsWorld ); } From fd90589cc2337d503c1c1e688fb04afbffd75f1f Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Thu, 10 Nov 2016 15:44:03 -0800 Subject: [PATCH 033/102] disable dead code --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 28ed1a81d..68f30944a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -4083,6 +4083,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() } //directly set the position of the links, only for debugging IK, don't use this method! +#if 0 if (0) { for (int i=0;igetNumLinks();i++) @@ -4091,6 +4092,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() mb->setJointPosMultiDof(i,&desiredPosition); } } else +#endif { int numMotors = 0; //find the joint motors and apply the desired velocity and maximum force/torque From 3b5d0f444bb96b25dd9b6746ac0b28417831f7dd Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 10 Nov 2016 16:18:20 -0800 Subject: [PATCH 034/102] various fixes move btSimulationIslandManagerMt.cpp from BulletCollision to BulletDynamics --- examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp | 2 +- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 4 ++-- examples/pybullet/pybullet.c | 6 +++--- src/BulletCollision/CMakeLists.txt | 2 -- src/BulletDynamics/CMakeLists.txt | 2 ++ src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp | 2 +- .../Dynamics}/btSimulationIslandManagerMt.cpp | 0 .../Dynamics}/btSimulationIslandManagerMt.h | 2 +- 8 files changed, 10 insertions(+), 10 deletions(-) rename src/{BulletCollision/CollisionDispatch => BulletDynamics/Dynamics}/btSimulationIslandManagerMt.cpp (100%) rename src/{BulletCollision/CollisionDispatch => BulletDynamics/Dynamics}/btSimulationIslandManagerMt.h (98%) diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp index 6edada4de..26e430cc2 100644 --- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp +++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp @@ -27,7 +27,7 @@ class btCollisionShape; #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btPoolAllocator.h" #include "btBulletCollisionCommon.h" -#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h" // for setSplitIslands() +#include "BulletDynamics/Dynamics/btSimulationIslandManagerMt.h" // for setSplitIslands() #include "BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h" #include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h" diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 68f30944a..6f81102ef 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -4083,7 +4083,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() } //directly set the position of the links, only for debugging IK, don't use this method! -#if 0 +#if 0 if (0) { for (int i=0;igetNumLinks();i++) @@ -4092,7 +4092,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() mb->setJointPosMultiDof(i,&desiredPosition); } } else -#endif +#endif { int numMotors = 0; //find the joint motors and apply the desired velocity and maximum force/torque diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index a38d427fd..531c49994 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2580,17 +2580,17 @@ static PyMethodDef SpamMethods[] = { #endif }, - {"getContactPoints", pybullet_getContactPointData, METH_VARARGS | METH_KEYWORDS, + {"getContactPoints", (PyCFunction)pybullet_getContactPointData, METH_VARARGS | METH_KEYWORDS, "Return existing contact points after the stepSimulation command. " "Optional arguments one or two object unique " "ids, that need to be involved in the contact."}, - {"getClosestPoints", pybullet_getClosestPointData, METH_VARARGS | METH_KEYWORDS, + {"getClosestPoints", (PyCFunction)pybullet_getClosestPointData, METH_VARARGS | METH_KEYWORDS, "Compute the closest points between two objects, if the distance is below a given threshold." "Input is two objects unique ids and distance threshold." }, - { "getOverlappingObjects", pybullet_getOverlappingObjects, METH_VARARGS | METH_KEYWORDS, + { "getOverlappingObjects", (PyCFunction)pybullet_getOverlappingObjects, METH_VARARGS | METH_KEYWORDS, "Return all the objects that have overlap with a given " "axis-aligned bounding box volume (AABB)." "Input are two vectors defining the AABB in world space [min_x,min_y,min_z],[max_x,max_y,max_z]." diff --git a/src/BulletCollision/CMakeLists.txt b/src/BulletCollision/CMakeLists.txt index 1e54a9494..90741a126 100644 --- a/src/BulletCollision/CMakeLists.txt +++ b/src/BulletCollision/CMakeLists.txt @@ -33,7 +33,6 @@ SET(BulletCollision_SRCS CollisionDispatch/btInternalEdgeUtility.h CollisionDispatch/btManifoldResult.cpp CollisionDispatch/btSimulationIslandManager.cpp - CollisionDispatch/btSimulationIslandManagerMt.cpp CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp @@ -141,7 +140,6 @@ SET(CollisionDispatch_HDRS CollisionDispatch/btHashedSimplePairCache.h CollisionDispatch/btManifoldResult.h CollisionDispatch/btSimulationIslandManager.h - CollisionDispatch/btSimulationIslandManagerMt.h CollisionDispatch/btSphereBoxCollisionAlgorithm.h CollisionDispatch/btSphereSphereCollisionAlgorithm.h CollisionDispatch/btSphereTriangleCollisionAlgorithm.h diff --git a/src/BulletDynamics/CMakeLists.txt b/src/BulletDynamics/CMakeLists.txt index f3d33fc90..4023d721e 100644 --- a/src/BulletDynamics/CMakeLists.txt +++ b/src/BulletDynamics/CMakeLists.txt @@ -22,6 +22,7 @@ SET(BulletDynamics_SRCS ConstraintSolver/btUniversalConstraint.cpp Dynamics/btDiscreteDynamicsWorld.cpp Dynamics/btDiscreteDynamicsWorldMt.cpp + Dynamics/btSimulationIslandManagerMt.cpp Dynamics/btRigidBody.cpp Dynamics/btSimpleDynamicsWorld.cpp # Dynamics/Bullet-C-API.cpp @@ -72,6 +73,7 @@ SET(Dynamics_HDRS Dynamics/btActionInterface.h Dynamics/btDiscreteDynamicsWorld.h Dynamics/btDiscreteDynamicsWorldMt.h + Dynamics/btSimulationIslandManagerMt.h Dynamics/btDynamicsWorld.h Dynamics/btSimpleDynamicsWorld.h Dynamics/btRigidBody.h diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp index d0906e9c5..5f4aaa4db 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp @@ -21,7 +21,7 @@ subject to the following restrictions: #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h" #include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h" #include "BulletCollision/CollisionShapes/btCollisionShape.h" -#include "BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h" +#include "btSimulationIslandManagerMt.h" #include "LinearMath/btTransformUtil.h" #include "LinearMath/btQuickprof.h" diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp similarity index 100% rename from src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.cpp rename to src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.cpp diff --git a/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h similarity index 98% rename from src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h rename to src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h index c1f5018bd..117061623 100644 --- a/src/BulletCollision/CollisionDispatch/btSimulationIslandManagerMt.h +++ b/src/BulletDynamics/Dynamics/btSimulationIslandManagerMt.h @@ -16,7 +16,7 @@ subject to the following restrictions: #ifndef BT_SIMULATION_ISLAND_MANAGER_MT_H #define BT_SIMULATION_ISLAND_MANAGER_MT_H -#include "btSimulationIslandManager.h" +#include "BulletCollision/CollisionDispatch/btSimulationIslandManager.h" class btTypedConstraint; From 35fc8306fd3d7828da334a96f54b80aaaa82bac4 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Fri, 11 Nov 2016 14:44:50 -0800 Subject: [PATCH 035/102] pybullet load/save .bullet files --- examples/SharedMemory/SharedMemoryPublic.h | 3 ++ examples/pybullet/pybullet.c | 60 +++++++++++++++++++++- 2 files changed, 61 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 7f8179b6c..1994dc560 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -7,6 +7,9 @@ enum EnumSharedMemoryClientCommand { CMD_LOAD_SDF, CMD_LOAD_URDF, + CMD_LOAD_BULLET, + CMD_SAVE_BULLET, + CMD_LOAD_MJCF, CMD_LOAD_BUNNY, CMD_SEND_BULLET_DATA_STREAM, CMD_CREATE_BOX_COLLISION_SHAPE, diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index a38d427fd..a691b1dc2 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -197,12 +197,59 @@ static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args) { PyErr_SetString(SpamError, "Cannot execute saveWorld command."); return NULL; +} + + +static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args) +{ + int size = PySequence_Size(args); + const char* bulletFileName = ""; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } + if (size == 1) { + if (!PyArg_ParseTuple(args, "s", &bulletFileName)) return NULL; + } + return NULL; +} + +static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args) +{ + int size = PySequence_Size(args); + const char* bulletFileName = ""; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + if (size == 1) { + if (!PyArg_ParseTuple(args, "s", &bulletFileName)) return NULL; + } + return NULL; +} -// Load a URDF file indicating the links and joints of an object +static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args) +{ + int size = PySequence_Size(args); + const char* mjcfjFileName = ""; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + if (size == 1) { + if (!PyArg_ParseTuple(args, "s", &mjcfjFileName)) return NULL; + } + return NULL; +} + + + +// Load a robot from a URDF file (universal robot description format) // function can be called without arguments and will default // to position (0,0,1) with orientation(0,0,0,1) // els(x,y,z) or @@ -2515,8 +2562,17 @@ static PyMethodDef SpamMethods[] = { {"loadSDF", pybullet_loadSDF, METH_VARARGS, "Load multibodies from an SDF file."}, + { "loadBullet", pybullet_loadBullet, METH_VARARGS, + "Restore the full state of the world from a .bullet file." }, + + { "saveBullet", pybullet_saveBullet, METH_VARARGS, + "Save the full state of the world to a .bullet file." }, + + { "loadMJCF", pybullet_loadMJCF, METH_VARARGS, + "Load multibodies from an MJCF file." }, + {"saveWorld", pybullet_saveWorld, METH_VARARGS, - "Save an approximate Python file to reproduce the current state of the world: saveWorld" + "Save a approximate Python file to reproduce the current state of the world: saveWorld" "(filename). (very preliminary and approximately)"}, {"getNumBodies", pybullet_getNumBodies, METH_VARARGS, From 7577c6d893f3d54fe41e62884fffb511a0c98c45 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Fri, 11 Nov 2016 18:07:42 -0800 Subject: [PATCH 036/102] add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF. --- .../ImportMJCFDemo/ImportMJCFSetup.cpp | 236 ++++++++++++++++++ .../ImportMJCFDemo/ImportMJCFSetup.h | 8 + examples/SharedMemory/PhysicsClientC_API.cpp | 81 ++++++ examples/SharedMemory/PhysicsClientC_API.h | 6 + .../PhysicsClientSharedMemory.cpp | 20 ++ examples/SharedMemory/PhysicsDirect.cpp | 11 +- .../PhysicsServerCommandProcessor.cpp | 70 ++++++ .../SharedMemory/PhysicsServerExample.cpp | 19 ++ examples/SharedMemory/SharedMemoryCommands.h | 6 + examples/SharedMemory/SharedMemoryPublic.h | 28 ++- examples/pybullet/pybullet.c | 44 +++- 11 files changed, 512 insertions(+), 17 deletions(-) create mode 100644 examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp create mode 100644 examples/Importers/ImportMJCFDemo/ImportMJCFSetup.h diff --git a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp new file mode 100644 index 000000000..9375974f2 --- /dev/null +++ b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp @@ -0,0 +1,236 @@ + +#include "ImportMJCFSetup.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h" +//#define TEST_MULTIBODY_SERIALIZATION 1 + +#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" +#include "Bullet3Common/b3FileUtils.h" + +#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h" +#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h" +#include "../CommonInterfaces/CommonParameterInterface.h" +#include "../../Utils/b3ResourcePath.h" + +#include "../CommonInterfaces/CommonMultiBodyBase.h" + +#include "../ImportURDFDemo/MyMultiBodyCreator.h" + +class ImportMJCFSetup : public CommonMultiBodyBase +{ + char m_fileName[1024]; + + struct ImportMJCFInternalData* m_data; + bool m_useMultiBody; + btAlignedObjectArray m_nameMemory; + btScalar m_grav; + int m_upAxis; +public: + ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName); + virtual ~ImportMJCFSetup(); + + virtual void initPhysics(); + virtual void stepSimulation(float deltaTime); + + void setFileName(const char* mjcfFileName); + + virtual void resetCamera() + { + float dist = 3.5; + float pitch = -136; + float yaw = 28; + float targetPos[3]={0.47,0,-0.64}; + m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); + } +}; + + +btAlignedObjectArray gFileNameArray; + + +#define MAX_NUM_MOTORS 1024 + +struct ImportMJCFInternalData +{ + ImportMJCFInternalData() + :m_numMotors(0), + m_mb(0) + { + for (int i=0;i=numFileNames) + { + count=0; + } + sprintf(m_fileName,"%s",gFileNameArray[count++].c_str()); + } +} + +ImportMJCFSetup::~ImportMJCFSetup() +{ + for (int i=0;isetUpAxis(m_upAxis); + + this->createEmptyDynamicsWorld(); + //m_dynamicsWorld->getSolverInfo().m_numIterations = 100; + m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); + m_dynamicsWorld->getDebugDrawer()->setDebugMode( + btIDebugDraw::DBG_DrawConstraints + +btIDebugDraw::DBG_DrawContactPoints + +btIDebugDraw::DBG_DrawAabb + );//+btIDebugDraw::DBG_DrawConstraintLimits); + + + if (m_guiHelper->getParameterInterface()) + { + SliderParams slider("Gravity", &m_grav); + slider.m_minVal = -10; + slider.m_maxVal = 10; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider); + } + + + +} + + + +void ImportMJCFSetup::stepSimulation(float deltaTime) +{ + if (m_dynamicsWorld) + { + btVector3 gravity(0, 0, 0); + gravity[m_upAxis] = m_grav; + m_dynamicsWorld->setGravity(gravity); + + for (int i=0;im_numMotors;i++) + { + if (m_data->m_jointMotors[i]) + { + m_data->m_jointMotors[i]->setVelocityTarget(m_data->m_motorTargetVelocities[i]); + } + if (m_data->m_generic6DofJointMotors[i]) + { + GenericConstraintUserInfo* jointInfo = (GenericConstraintUserInfo*)m_data->m_generic6DofJointMotors[i]->getUserConstraintPtr(); + m_data->m_generic6DofJointMotors[i]->setTargetVelocity(jointInfo->m_jointAxisIndex,m_data->m_motorTargetVelocities[i]); + //jointInfo-> + } + } + + //the maximal coordinates/iterative MLCP solver requires a smallish timestep to converge + m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.); + } +} + +class CommonExampleInterface* ImportMJCFCreateFunc(struct CommonExampleOptions& options) +{ + + return new ImportMJCFSetup(options.m_guiHelper, options.m_option,options.m_fileName); +} diff --git a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.h b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.h new file mode 100644 index 000000000..52b399426 --- /dev/null +++ b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.h @@ -0,0 +1,8 @@ +#ifndef IMPORT_MJCF_SETUP_H +#define IMPORT_MJCF_SETUP_H + + +class CommonExampleInterface* ImportMJCFCreateFunc(struct CommonExampleOptions& options); + + +#endif //IMPORT_MJCF_SETUP_H diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index f95ff129a..cc2ac7dcb 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -79,6 +79,87 @@ b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClie return 0; } +b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName) +{ + PhysicsClient* cl = (PhysicsClient*)physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + + if (cl->canSubmitCommand()) + { + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_LOAD_BULLET; + int len = strlen(fileName); + if (len < MAX_URDF_FILENAME_LENGTH) + { + strcpy(command->m_fileArguments.m_fileName, fileName); + } + else + { + command->m_fileArguments.m_fileName[0] = 0; + } + command->m_updateFlags = 0; + + return (b3SharedMemoryCommandHandle)command; + } + return 0; +} + +b3SharedMemoryCommandHandle b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName) +{ + PhysicsClient* cl = (PhysicsClient*)physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + + if (cl->canSubmitCommand()) + { + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_SAVE_BULLET; + int len = strlen(fileName); + if (len < MAX_URDF_FILENAME_LENGTH) + { + strcpy(command->m_fileArguments.m_fileName, fileName); + } + else + { + command->m_fileArguments.m_fileName[0] = 0; + } + command->m_updateFlags = 0; + + return (b3SharedMemoryCommandHandle)command; + } + return 0; +} +b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName) +{ + PhysicsClient* cl = (PhysicsClient*)physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + + if (cl->canSubmitCommand()) + { + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_LOAD_MJCF; + int len = strlen(fileName); + if (len < MAX_URDF_FILENAME_LENGTH) + { + strcpy(command->m_fileArguments.m_fileName, fileName); + } + else + { + command->m_fileArguments.m_fileName[0] = 0; + } + command->m_updateFlags = 0; + + return (b3SharedMemoryCommandHandle)command; + } + return 0; +} + + b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient) { PhysicsClient* cl = (PhysicsClient* ) physClient; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 7b4589e86..c22b461e5 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -143,6 +143,11 @@ int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHand int b3LoadUrdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody); int b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle, int useFixedBase); +b3SharedMemoryCommandHandle b3LoadBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName); +b3SharedMemoryCommandHandle b3SaveBulletCommandInit(b3PhysicsClientHandle physClient, const char* fileName); +b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName); + + ///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyIndex, @@ -243,6 +248,7 @@ b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandl void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double force[3], const double position[3], int flags); void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[3], int flags); +///experiments of robots interacting with non-rigid objects (such as btSoftBody) b3SharedMemoryCommandHandle b3LoadBunnyCommandInit(b3PhysicsClientHandle physClient); int b3LoadBunnySetScale(b3SharedMemoryCommandHandle commandHandle, double scale); int b3LoadBunnySetMass(b3SharedMemoryCommandHandle commandHandle, double mass); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 0a3d198eb..03395317c 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -703,6 +703,26 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { b3Warning("Load texture failed"); break; } + case CMD_BULLET_LOADING_COMPLETED: + { + break; + } + case CMD_BULLET_LOADING_FAILED: + { + b3Warning("Load .bullet failed"); + break; + } + case CMD_BULLET_SAVING_FAILED: + { + b3Warning("Save .bullet failed"); + break; + } + case CMD_MJCF_LOADING_FAILED: + { + b3Warning("Load .mjcf failed"); + break; + } + default: { b3Error("Unknown server status %d\n", serverCmd.m_type); btAssert(0); diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index b54485f66..011204e80 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -662,10 +662,19 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd } break; } + case CMD_BULLET_LOADING_FAILED: + { + b3Warning("Couldn't load .bullet file"); + break; + } + case CMD_BULLET_LOADING_COMPLETED: + { + break; + } default: { - // b3Error("Unknown server status type"); + b3Warning("Unknown server status type"); } }; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 6f81102ef..6ab941616 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3371,6 +3371,76 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } + case CMD_LOAD_BULLET: + { + + SharedMemoryStatus& serverCmd = serverStatusOut; + btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld); + + const char* prefix[] = { "", "./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/" }; + int numPrefixes = sizeof(prefix) / sizeof(const char*); + char relativeFileName[1024]; + FILE* f = 0; + bool found = false; + + for (int i = 0; !f && iloadFile(relativeFileName); + if (ok) + { + serverCmd.m_type = CMD_BULLET_LOADING_COMPLETED; + m_data->m_guiHelper->autogenerateGraphicsObjects(m_data->m_dynamicsWorld); + hasStatus = true; + break; + } + } + serverCmd.m_type = CMD_BULLET_LOADING_FAILED; + hasStatus = true; + break; + } + + case CMD_SAVE_BULLET: + { + SharedMemoryStatus& serverCmd = serverStatusOut; + + FILE* f = fopen(clientCmd.m_fileArguments.m_fileName, "wb"); + if (f) + { + btDefaultSerializer* ser = new btDefaultSerializer(); + m_data->m_dynamicsWorld->serialize(ser); + fwrite(ser->getBufferPointer(), ser->getCurrentBufferSize(), 1, f); + fclose(f); + serverCmd.m_type = CMD_BULLET_SAVING_COMPLETED; + delete ser; + } + serverCmd.m_type = CMD_BULLET_SAVING_FAILED; + hasStatus = true; + break; + } + + case CMD_LOAD_MJCF: + { + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_MJCF_LOADING_FAILED; + hasStatus = true; + break; + } + default: { b3Error("Unknown command encountered"); diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index eec1bdbfc..828fab3f4 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -74,6 +74,7 @@ enum MultiThreadedGUIHelperCommunicationEnums eGUIHelperCreateRigidBodyGraphicsObject, eGUIHelperRemoveAllGraphicsInstances, eGUIHelperCopyCameraImageData, + eGUIHelperAutogenerateGraphicsObjects, }; #include @@ -530,8 +531,18 @@ public: } + btDiscreteDynamicsWorld* m_dynamicsWorld; + virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) { + m_dynamicsWorld = rbWorld; + m_cs->lock(); + m_cs->setSharedParam(1, eGUIHelperAutogenerateGraphicsObjects); + m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(1000); + } } virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size) @@ -916,6 +927,14 @@ void PhysicsServerExample::stepSimulation(float deltaTime) m_multiThreadedHelper->getCriticalSection()->unlock(); break; } + case eGUIHelperAutogenerateGraphicsObjects: + { + m_multiThreadedHelper->m_childGuiHelper->autogenerateGraphicsObjects(m_multiThreadedHelper->m_dynamicsWorld); + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } case eGUIHelperIdle: default: { diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index bdc2dd96e..82925c8f8 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -67,6 +67,11 @@ struct SdfArgs int m_useMultiBody; }; +struct FileArgs +{ + char m_fileName[MAX_URDF_FILENAME_LENGTH]; +}; + enum EnumUrdfArgsUpdateFlags { URDF_ARGS_FILE_NAME=1, @@ -509,6 +514,7 @@ struct SharedMemoryCommand { struct UrdfArgs m_urdfArguments; struct SdfArgs m_sdfArguments; + struct FileArgs m_fileArguments; struct SdfRequestInfoArgs m_sdfRequestInfoArgs; struct InitPoseArgs m_initPoseArgs; struct SendPhysicsSimulationParameters m_physSimParamArgs; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 1994dc560..47c7e7280 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -11,18 +11,16 @@ enum EnumSharedMemoryClientCommand CMD_SAVE_BULLET, CMD_LOAD_MJCF, CMD_LOAD_BUNNY, - CMD_SEND_BULLET_DATA_STREAM, - CMD_CREATE_BOX_COLLISION_SHAPE, -// CMD_DELETE_BOX_COLLISION_SHAPE, - CMD_CREATE_RIGID_BODY, - CMD_DELETE_RIGID_BODY, - CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors -// CMD_REQUEST_SENSOR_MEASUREMENTS,//see CMD_REQUEST_ACTUAL_STATE/CMD_ACTUAL_STATE_UPDATE_COMPLETED - CMD_INIT_POSE, - CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, - CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE? - CMD_REQUEST_ACTUAL_STATE, - CMD_REQUEST_DEBUG_LINES, + CMD_SEND_BULLET_DATA_STREAM, + CMD_CREATE_BOX_COLLISION_SHAPE, + CMD_CREATE_RIGID_BODY, + CMD_DELETE_RIGID_BODY, + CMD_CREATE_SENSOR,///enable or disable joint feedback for force/torque sensors + CMD_INIT_POSE, + CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, + CMD_SEND_DESIRED_STATE,//todo: reconsider naming, for example SET_JOINT_CONTROL_VARIABLE? + CMD_REQUEST_ACTUAL_STATE, + CMD_REQUEST_DEBUG_LINES, CMD_REQUEST_BODY_INFO, CMD_REQUEST_INTERNAL_DATA, CMD_STEP_FORWARD_SIMULATION, @@ -59,6 +57,12 @@ enum EnumSharedMemoryServerStatus CMD_SDF_LOADING_FAILED, CMD_URDF_LOADING_COMPLETED, CMD_URDF_LOADING_FAILED, + CMD_BULLET_LOADING_COMPLETED, + CMD_BULLET_LOADING_FAILED, + CMD_BULLET_SAVING_COMPLETED, + CMD_BULLET_SAVING_FAILED, + CMD_MJCF_LOADING_COMPLETED, + CMD_MJCF_LOADING_FAILED, CMD_REQUEST_INTERNAL_DATA_COMPLETED, CMD_REQUEST_INTERNAL_DATA_FAILED, CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED, diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 5956da397..9991ee075 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -204,21 +204,38 @@ static PyObject* pybullet_loadBullet(PyObject* self, PyObject* args) { int size = PySequence_Size(args); const char* bulletFileName = ""; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + b3SharedMemoryCommandHandle command; + if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); - return NULL; + return NULL; } if (size == 1) { if (!PyArg_ParseTuple(args, "s", &bulletFileName)) return NULL; } - return NULL; + + command = b3LoadBulletCommandInit(sm, bulletFileName); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + statusType = b3GetStatusType(statusHandle); + if (statusType != CMD_BULLET_LOADING_COMPLETED) + { + PyErr_SetString(SpamError, "Couldn't load .bullet file."); + return NULL; + } + Py_INCREF(Py_None); + return Py_None; } static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args) { int size = PySequence_Size(args); const char* bulletFileName = ""; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + b3SharedMemoryCommandHandle command; if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); @@ -227,7 +244,15 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args) if (size == 1) { if (!PyArg_ParseTuple(args, "s", &bulletFileName)) return NULL; } - return NULL; + command = b3SaveBulletCommandInit(sm, bulletFileName); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + if (statusHandle != CMD_BULLET_SAVING_COMPLETED) + { + PyErr_SetString(SpamError, "Couldn't save .bullet file."); + return NULL; + } + Py_INCREF(Py_None); + return Py_None; } @@ -236,6 +261,9 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args) { int size = PySequence_Size(args); const char* mjcfjFileName = ""; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + b3SharedMemoryCommandHandle command; if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); @@ -244,7 +272,15 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args) if (size == 1) { if (!PyArg_ParseTuple(args, "s", &mjcfjFileName)) return NULL; } - return NULL; + command = b3LoadMJCFCommandInit(sm, mjcfjFileName); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + if (statusHandle != CMD_MJCF_LOADING_COMPLETED) + { + PyErr_SetString(SpamError, "Couldn't load .mjcf file."); + return NULL; + } + Py_INCREF(Py_None); + return Py_None; } From 9bad64fed9c332da00e76891cf7d4a319822bc85 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 12 Nov 2016 11:59:40 -0800 Subject: [PATCH 037/102] allow obsolete OpenGL2 drawer to render with z-up axis. --- data/kiva_shelf/0_Bullet3Demo.txt | 7 ------ examples/ExampleBrowser/GL_ShapeDrawer.cpp | 22 +++++++++++++------ examples/ExampleBrowser/GL_ShapeDrawer.h | 4 ++-- examples/ExampleBrowser/OpenGLGuiHelper.cpp | 2 +- .../ImportMJCFDemo/ImportMJCFSetup.cpp | 14 ++++++------ examples/OpenGLWindow/SimpleOpenGL2App.cpp | 8 ++++++- .../OpenGLWindow/SimpleOpenGL2Renderer.cpp | 1 + 7 files changed, 33 insertions(+), 25 deletions(-) delete mode 100644 data/kiva_shelf/0_Bullet3Demo.txt diff --git a/data/kiva_shelf/0_Bullet3Demo.txt b/data/kiva_shelf/0_Bullet3Demo.txt deleted file mode 100644 index eb396d29f..000000000 --- a/data/kiva_shelf/0_Bullet3Demo.txt +++ /dev/null @@ -1,7 +0,0 @@ ---start_demo_name=R2D2 Grasp ---mouse_move_multiplier=0.400000 ---mouse_wheel_multiplier=0.010000 ---background_color_red= 0.900000 ---background_color_green= 0.900000 ---background_color_blue= 1.000000 ---fixed_timestep= 0.000000 diff --git a/examples/ExampleBrowser/GL_ShapeDrawer.cpp b/examples/ExampleBrowser/GL_ShapeDrawer.cpp index 99b6421d6..2b730af5b 100644 --- a/examples/ExampleBrowser/GL_ShapeDrawer.cpp +++ b/examples/ExampleBrowser/GL_ShapeDrawer.cpp @@ -782,7 +782,7 @@ GL_ShapeDrawer::~GL_ShapeDrawer() } } -void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWorld, int pass) +void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWorld, int pass, int cameraUpAxis) { btAssert(dynamicsWorld); @@ -849,7 +849,12 @@ void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWo //if (!(getDebugMode()& btIDebugDraw::DBG_DrawWireframe)) int debugMode = 0;//getDebugMode() //btVector3 m_sundirection(-1,-1,-1); + btVector3 m_sundirection(btVector3(1,-2,1)*1000); + if (cameraUpAxis==2) + { + m_sundirection = btVector3(1,1,-2)*1000; + } switch(pass) { @@ -861,9 +866,12 @@ void GL_ShapeDrawer::drawSceneInternal(const btDiscreteDynamicsWorld* dynamicsWo } -void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, bool useShadows) +//this GL_ShapeDrawer will be removed, in the meanwhile directly access this global 'useShadoMaps' +extern bool useShadowMap; +void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, bool useShadows1, int cameraUpAxis) { + bool useShadows = useShadowMap; GLfloat light_ambient[] = { btScalar(0.2), btScalar(0.2), btScalar(0.2), btScalar(1.0) }; GLfloat light_diffuse[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0) }; GLfloat light_specular[] = { btScalar(1.0), btScalar(1.0), btScalar(1.0), btScalar(1.0 )}; @@ -897,7 +905,7 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo { glClear(GL_STENCIL_BUFFER_BIT); glEnable(GL_CULL_FACE); - drawSceneInternal(dynamicsWorld,0); + drawSceneInternal(dynamicsWorld,0, cameraUpAxis); glDisable(GL_LIGHTING); glDepthMask(GL_FALSE); @@ -907,10 +915,10 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo glStencilFunc(GL_ALWAYS,1,0xFFFFFFFFL); glFrontFace(GL_CCW); glStencilOp(GL_KEEP,GL_KEEP,GL_INCR); - drawSceneInternal(dynamicsWorld,1); + drawSceneInternal(dynamicsWorld,1,cameraUpAxis); glFrontFace(GL_CW); glStencilOp(GL_KEEP,GL_KEEP,GL_DECR); - drawSceneInternal(dynamicsWorld,1); + drawSceneInternal(dynamicsWorld,1,cameraUpAxis); glFrontFace(GL_CCW); glPolygonMode(GL_FRONT,GL_FILL); @@ -929,7 +937,7 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo glStencilFunc( GL_NOTEQUAL, 0, 0xFFFFFFFFL ); glStencilOp( GL_KEEP, GL_KEEP, GL_KEEP ); glDisable(GL_LIGHTING); - drawSceneInternal(dynamicsWorld,2); + drawSceneInternal(dynamicsWorld,2,cameraUpAxis); glEnable(GL_LIGHTING); glDepthFunc(GL_LESS); glDisable(GL_STENCIL_TEST); @@ -938,6 +946,6 @@ void GL_ShapeDrawer::drawScene(const btDiscreteDynamicsWorld* dynamicsWorld, boo else { glDisable(GL_CULL_FACE); - drawSceneInternal(dynamicsWorld,0); + drawSceneInternal(dynamicsWorld,0,cameraUpAxis); } } \ No newline at end of file diff --git a/examples/ExampleBrowser/GL_ShapeDrawer.h b/examples/ExampleBrowser/GL_ShapeDrawer.h index 4d9ce701a..e004420c4 100644 --- a/examples/ExampleBrowser/GL_ShapeDrawer.h +++ b/examples/ExampleBrowser/GL_ShapeDrawer.h @@ -44,7 +44,7 @@ protected: ShapeCache* cache(btConvexShape*); - virtual void drawSceneInternal(const btDiscreteDynamicsWorld* world, int pass); + virtual void drawSceneInternal(const btDiscreteDynamicsWorld* world, int pass, int cameraUpAxis); public: GL_ShapeDrawer(); @@ -53,7 +53,7 @@ public: - virtual void drawScene(const btDiscreteDynamicsWorld* world, bool useShadows); + virtual void drawScene(const btDiscreteDynamicsWorld* world, bool useShadows, int cameraUpAxis); ///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer virtual void drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax); diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp index 4a4277b2d..0194b4f4e 100644 --- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp +++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp @@ -338,7 +338,7 @@ void OpenGLGuiHelper::render(const btDiscreteDynamicsWorld* rbWorld) if (m_data->m_gl2ShapeDrawer && rbWorld) { m_data->m_gl2ShapeDrawer->enableTexture(true); - m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true); + m_data->m_gl2ShapeDrawer->drawScene(rbWorld,true, m_data->m_glApp->getUpAxis()); } } void OpenGLGuiHelper::createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld) diff --git a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp index 9375974f2..f4259f77e 100644 --- a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp +++ b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp @@ -44,7 +44,7 @@ public: }; -btAlignedObjectArray gFileNameArray; +static btAlignedObjectArray gMCFJFileNameArray; #define MAX_NUM_MOTORS 1024 @@ -94,7 +94,7 @@ ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, setFileName(fileName); } else { - gFileNameArray.clear(); + gMCFJFileNameArray.clear(); @@ -112,26 +112,26 @@ ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, b3Printf("mjcf_files.txt entry %s",fileName); if (result==1) { - gFileNameArray.push_back(fileName); + gMCFJFileNameArray.push_back(fileName); } } while (result==1); fclose(f); } - if (gFileNameArray.size()==0) + if (gMCFJFileNameArray.size()==0) { - gFileNameArray.push_back("quadruped/quadruped.mjcf"); + gMCFJFileNameArray.push_back("quadruped/quadruped.mjcf"); } - int numFileNames = gFileNameArray.size(); + int numFileNames = gMCFJFileNameArray.size(); if (count>=numFileNames) { count=0; } - sprintf(m_fileName,"%s",gFileNameArray[count++].c_str()); + sprintf(m_fileName,"%s",gMCFJFileNameArray[count++].c_str()); } } diff --git a/examples/OpenGLWindow/SimpleOpenGL2App.cpp b/examples/OpenGLWindow/SimpleOpenGL2App.cpp index a898dd602..710b9fdab 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2App.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL2App.cpp @@ -70,6 +70,11 @@ struct SimpleOpenGL2AppInternalData { GLuint m_fontTextureId; GLuint m_largeFontTextureId; + int m_upAxis; + SimpleOpenGL2AppInternalData() + :m_upAxis(1) + { + } }; static GLuint BindFont2(const CTexFont *_Font) @@ -268,10 +273,11 @@ void SimpleOpenGL2App::drawGrid(DrawGridData data) } void SimpleOpenGL2App::setUpAxis(int axis) { + this->m_data->m_upAxis = axis; } int SimpleOpenGL2App::getUpAxis() const { - return 1; + return this->m_data->m_upAxis; } void SimpleOpenGL2App::swapBuffer() diff --git a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp index 050ec447e..d69b63d54 100644 --- a/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp +++ b/examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp @@ -33,6 +33,7 @@ void SimpleOpenGL2Renderer::updateCamera(int upAxis) float projection[16]; float view[16]; m_camera.setAspectRatio((float)m_width/(float)m_height); + m_camera.setCameraUpAxis(upAxis); m_camera.update(); m_camera.getCameraProjectionMatrix(projection); m_camera.getCameraViewMatrix(view); From d49e3d787a7e5a4a84c427c253b1b9cdf9788c83 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 12 Nov 2016 12:24:20 -0800 Subject: [PATCH 038/102] fix rolling/spinning friction in raytest demo. --- examples/Raycast/RaytestDemo.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/Raycast/RaytestDemo.cpp b/examples/Raycast/RaytestDemo.cpp index fa07a9942..5bf458d7e 100644 --- a/examples/Raycast/RaytestDemo.cpp +++ b/examples/Raycast/RaytestDemo.cpp @@ -200,7 +200,6 @@ void RaytestDemo::initPhysics() btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform); btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia); btRigidBody* body = new btRigidBody(rbInfo); - body->setRollingFriction(1); body->setFriction(1); //add the body to the dynamics world m_dynamicsWorld->addRigidBody(body); @@ -269,6 +268,7 @@ void RaytestDemo::initPhysics() rbInfo.m_startWorldTransform = startTransform; btRigidBody* body = new btRigidBody(rbInfo); body->setRollingFriction(0.03); + body->setSpinningFriction(0.03); body->setFriction(1); body->setAnisotropicFriction(colShape->getAnisotropicRollingFrictionDirection(),btCollisionObject::CF_ANISOTROPIC_ROLLING_FRICTION); From 2f4ec4f8c9faaf5ca0a8c4ae113d414f15cc334c Mon Sep 17 00:00:00 2001 From: Lunkhound Date: Sat, 12 Nov 2016 12:41:55 -0800 Subject: [PATCH 039/102] collisionObject: renamed uniqueId to worldArrayIndex; removed linear search in removeCollisionObject --- .../CollisionDispatch/btCollisionObject.cpp | 1 + .../CollisionDispatch/btCollisionObject.h | 11 ++++---- .../CollisionDispatch/btCollisionWorld.cpp | 25 ++++++++++++++++--- .../btSequentialImpulseConstraintSolver.cpp | 2 +- .../Dynamics/btDiscreteDynamicsWorldMt.cpp | 6 ----- .../Dynamics/btDiscreteDynamicsWorldMt.h | 2 -- 6 files changed, 30 insertions(+), 17 deletions(-) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp index 25cefb11f..fdecac162 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.cpp @@ -28,6 +28,7 @@ btCollisionObject::btCollisionObject() m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT), m_islandTag1(-1), m_companionId(-1), + m_worldArrayIndex(-1), m_activationState1(1), m_deactivationTime(btScalar(0.)), m_friction(btScalar(0.5)), diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/src/BulletCollision/CollisionDispatch/btCollisionObject.h index 11491e41f..c285a83fb 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -79,7 +79,7 @@ protected: int m_islandTag1; int m_companionId; - int m_uniqueId; + int m_worldArrayIndex; // index of object in world's collisionObjects array mutable int m_activationState1; mutable btScalar m_deactivationTime; @@ -456,14 +456,15 @@ public: m_companionId = id; } - SIMD_FORCE_INLINE int getUniqueId() const + SIMD_FORCE_INLINE int getWorldArrayIndex() const { - return m_uniqueId; + return m_worldArrayIndex; } - void setUniqueId( int id ) + // only should be called by CollisionWorld + void setWorldArrayIndex(int ix) { - m_uniqueId = id; + m_worldArrayIndex = ix; } SIMD_FORCE_INLINE btScalar getHitFraction() const diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index ea7dc86c4..3196369e1 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -115,7 +115,9 @@ void btCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,sho //check that the object isn't already added btAssert( m_collisionObjects.findLinearSearch(collisionObject) == m_collisionObjects.size()); + btAssert(collisionObject->getWorldArrayIndex() == -1); // do not add the same object to more than one collision world + collisionObject->setWorldArrayIndex(m_collisionObjects.size()); m_collisionObjects.push_back(collisionObject); //calculate new AABB @@ -195,6 +197,7 @@ void btCollisionWorld::updateAabbs() for ( int i=0;igetWorldArrayIndex() == i); //only update aabb of active objects if (m_forceUpdateAllAabbs || colObj->isActive()) @@ -253,9 +256,25 @@ void btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject) } - //swapremove - m_collisionObjects.remove(collisionObject); - + int iObj = collisionObject->getWorldArrayIndex(); + btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously? + if (iObj >= 0 && iObj < m_collisionObjects.size()) + { + btAssert(collisionObject == m_collisionObjects[iObj]); + m_collisionObjects.swap(iObj, m_collisionObjects.size()-1); + m_collisionObjects.pop_back(); + if (iObj < m_collisionObjects.size()) + { + m_collisionObjects[iObj]->setWorldArrayIndex(iObj); + } + } + else + { + // slow linear search + //swapremove + m_collisionObjects.remove(collisionObject); + } + collisionObject->setWorldArrayIndex(-1); } diff --git a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp index 988fd2459..caf0258a4 100644 --- a/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp +++ b/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp @@ -751,7 +751,7 @@ int btSequentialImpulseConstraintSolver::getOrInitSolverBody(btCollisionObject& // Kinematic bodies can be in multiple islands at once, so it is a // race condition to write to them, so we use an alternate method // to record the solverBodyId - int uniqueId = body.getUniqueId(); + int uniqueId = body.getWorldArrayIndex(); const int INVALID_SOLVER_BODY_ID = -1; if (uniqueId >= m_kinematicBodyUniqueIdToSolverBodyTable.size()) { diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp index 5f4aaa4db..5e51a994c 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.cpp @@ -149,7 +149,6 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo { BT_PROFILE("solveConstraints"); - m_solverIslandCallbackMt->setup(&solverInfo, getDebugDrawer()); m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); @@ -161,8 +160,3 @@ void btDiscreteDynamicsWorldMt::solveConstraints(btContactSolverInfo& solverInfo } -void btDiscreteDynamicsWorldMt::addCollisionObject(btCollisionObject* collisionObject, short int collisionFilterGroup, short int collisionFilterMask) -{ - collisionObject->setUniqueId(m_collisionObjects.size()); - btDiscreteDynamicsWorld::addCollisionObject(collisionObject, collisionFilterGroup, collisionFilterMask); -} diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h index af40129b8..b28371b51 100644 --- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h +++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorldMt.h @@ -35,8 +35,6 @@ protected: public: BT_DECLARE_ALIGNED_ALLOCATOR(); - virtual void addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup=btBroadphaseProxy::StaticFilter,short int collisionFilterMask=btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter); - btDiscreteDynamicsWorldMt(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration); virtual ~btDiscreteDynamicsWorldMt(); }; From c521d816c6e3c7574d330df40e1f3bbffa9eded9 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 14 Nov 2016 07:39:34 -0800 Subject: [PATCH 040/102] add user debug line/text features in pybullet + shared memory API: addUserDebugLine, addUserDebugText removeUserDebugItem removeAllUserDebugItems --- data/multibody.bullet | Bin 16496 -> 14712 bytes .../CommonGUIHelperInterface.h | 23 +- examples/ExampleBrowser/OpenGLGuiHelper.h | 18 ++ examples/RoboticsLearning/b3RobotSimAPI.cpp | 15 + examples/SharedMemory/PhysicsClientC_API.cpp | 103 +++++++ examples/SharedMemory/PhysicsClientC_API.h | 12 +- .../PhysicsClientSharedMemory.cpp | 9 + .../PhysicsServerCommandProcessor.cpp | 94 ++++++- .../SharedMemory/PhysicsServerExample.cpp | 220 ++++++++++++++- examples/SharedMemory/SharedMemoryCommands.h | 36 +++ examples/SharedMemory/SharedMemoryPublic.h | 5 + .../TinyRendererVisualShapeConverter.cpp | 14 +- .../TinyRendererVisualShapeConverter.h | 2 +- examples/SharedMemory/udp/main.cpp | 14 +- examples/SoftDemo/SoftDemo.cpp | 4 +- .../main_tinyrenderer_single_example.cpp | 14 + examples/pybullet/pybullet.c | 261 +++++++++++++++++- 17 files changed, 809 insertions(+), 35 deletions(-) diff --git a/data/multibody.bullet b/data/multibody.bullet index c96db53b5cb53cb6128258c7b04bb07a1ebec1dd..90aa451573fd7c8611a929f7947ef633b70b227f 100644 GIT binary patch delta 2243 zcmbtVU1(HS5T2XdCi|17YqG&@Y}3`oQj3OINt=-UcTHDK&6>2`2HO%_Nf#;_7wLc5 zTLf7}B$wNVY@i^dkHxx(+6Om{FCt|PfkM~5<)z@01S!P_!G3ejJ^Lp@iRUtV&iv1r zGc&tpXb&<+V(*TQ?s;c=$LFsP4#ZQV@iY-N*{~hE2AI!3A0{%w^Z9(}OfDAy3F|_X zX}3$GAqJ+n$}bmhmr6lC&*vwhb1U}y{kjwGF?>}c{=>b@uMQejutz`*7uGr1FS05Wl@f!Sh*-1pfl_M z)D~+i@K&?Xm3?wOLZW7=Y;leHBj~E%B=aftt<#RpeQZMk(P!?DKCE#}qAMdWj3|HB zc4x27)q#ADcPl*=M->NqD()&T45PIJ3h=zPGopz^G&u;XA{W>@0kt_|hkk$+cl$TE z%L{?!Y)eJSX`OIyG_Sj?^X{G(!5lscNoCQ6GlQ^bZD{Yb&Pfx)AXcQ@me$re$rOH} zXZcV`gS-w8C-fMGRH?{Z#y4W$Jr>*NL#S;yGrS6@job;`X%;%O_w|ABKl*_ERzx_5 znFfBtQV#295F7^W0K^CaUTg@6@kJFNmmrTMIU`*>nZz>I4pz&VBjtG|TeJFLELrpT zBFM)c-_zc^4RVG`f$H(b6o@BSUxAkwJQ0qC*Lo7b^~8zLxCX}93gS(E{ec*Nj67`u zw(>Ai2~eHim;kpG^>mp_`Z_xN8}GeJh5WtKyBK}196Zo>4Hcl%Tq;#O^~=^!K2;9# zIA6IL3tj2`PL$_G-0k1Bw$K+S*CXI_lV--==nL_sKTVa3Bjja;MJR}JVgtwxoGJK! z70}LV@dMGFfj(}W%dd1S`?DVECl5ZqfPR{y2pMqLPf1XwXcoVN_`H;^G{Yq(6>r%5r@bFhCEE$y6?$Vr=(^ko$-O)b=?s09@(%#37|Eih8=oz9AwHO#QV4XGr2@WqgbCCrCC^dOYn zmn?`yMF?SnKIqeiJrye=11Wq^g1~xN4?$33=iKjpyZ4$nMYD*`<=Z*up5O1D^PO+s zu4H?Kc>URMxUr?Z?P^u^;ZSQhGzI`RT>EhexDILXK|&HCD=~gjD%PN1f6t@<0hv)* z>COPb^Bm?Hh~?SX!xZA=z`(da=YTo>tn*Qs6r*+fj=7NVU?!AQuNt)PDlbbTsXHhb&yRjFK z&Gx9w{1qVeQU}V8$Y66YnnVG~BDm;1sEzg=B}NWI$7f@np{W#R=oL-O7M89z&Yk`t zoIgHo$_#uH{N36T&mVtn{?U5bGROHgu+9qz#8PJ&-DT8$rI~P-E71>-(rOGyUuz~i zTItMAQ^VHlQd0&fQ;O1z!+IDyR7Bp7iyx;=rkya-GQ6vd!HH7S@OH@h-J}n5?#5!hJHIt1 zc`B#I)j0PTM~xJC9kgFGxTHqx4Y>_)pB!^z z&Kp=aZ9((G+Up(~uiX;EiC-|wX^!QjUriMM%!yzmpq_VbW!dyNeZ{V+2Q@hnhA&hv zI7^v0!^B6;VwXi6M{A3?2tAbI;)SHbk~!Yfm<(U|E)%Xpet|FINw48_{mB_LcB9>1 zlb=GQIVir^<$KAGQf+Hu4-qLY;1~s(0$0ROSH6n-p7L0C*vJ{fzJt*^#E1Dm6k>S) z5^cbY-Yx+7TAKP^eIj}e&}ZT$ql?B|GWwHd19R8Ch#6>#`oeCbT@sIe6Uik{#PzItZ zRBns6Kmx~H03Q#?;J`=3<%8`|1J!t5!{9}Vp3Nu^!HggZx8WR&K?h`oVY{f=0!qkJ zHz>k1^a(w}TlfJPK@qxb3EQY61D%2bedwbdm_type) { + case CMD_BULLET_LOADING_COMPLETED: case CMD_SDF_LOADING_COMPLETED: { int i,maxBodies; @@ -1062,6 +1063,107 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l } + +/// Add/remove user-specific debug lines and debug text messages +b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime) +{ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type =CMD_USER_DEBUG_DRAW; + command->m_updateFlags = USER_DEBUG_HAS_LINE; //USER_DEBUG_HAS_TEXT + + command->m_userDebugDrawArgs.m_debugLineFromXYZ[0] = fromXYZ[0]; + command->m_userDebugDrawArgs.m_debugLineFromXYZ[1] = fromXYZ[1]; + command->m_userDebugDrawArgs.m_debugLineFromXYZ[2] = fromXYZ[2]; + + command->m_userDebugDrawArgs.m_debugLineToXYZ[0] = toXYZ[0]; + command->m_userDebugDrawArgs.m_debugLineToXYZ[1] = toXYZ[1]; + command->m_userDebugDrawArgs.m_debugLineToXYZ[2] = toXYZ[2]; + + command->m_userDebugDrawArgs.m_debugLineColorRGB[0] = colorRGB[0]; + command->m_userDebugDrawArgs.m_debugLineColorRGB[1] = colorRGB[1]; + command->m_userDebugDrawArgs.m_debugLineColorRGB[2] = colorRGB[2]; + + command->m_userDebugDrawArgs.m_lineWidth = lineWidth; + command->m_userDebugDrawArgs.m_lifeTime = lifeTime; + + return (b3SharedMemoryCommandHandle) command; +} + +b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime) +{ + + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type =CMD_USER_DEBUG_DRAW; + command->m_updateFlags = USER_DEBUG_HAS_TEXT; + + int len = strlen(txt); + if (lenm_userDebugDrawArgs.m_text,txt); + } else + { + command->m_userDebugDrawArgs.m_text[0] = 0; + } + command->m_userDebugDrawArgs.m_textPositionXYZ[0] = positionXYZ[0]; + command->m_userDebugDrawArgs.m_textPositionXYZ[1] = positionXYZ[1]; + command->m_userDebugDrawArgs.m_textPositionXYZ[2] = positionXYZ[2]; + + command->m_userDebugDrawArgs.m_textColorRGB[0] = colorRGB[0]; + command->m_userDebugDrawArgs.m_textColorRGB[1] = colorRGB[1]; + command->m_userDebugDrawArgs.m_textColorRGB[2] = colorRGB[2]; + + command->m_userDebugDrawArgs.m_textSize = textSize; + + command->m_userDebugDrawArgs.m_lifeTime = lifeTime; + + return (b3SharedMemoryCommandHandle) command; +} + +b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId) +{ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type =CMD_USER_DEBUG_DRAW; + command->m_updateFlags = USER_DEBUG_REMOVE_ONE_ITEM; + command->m_userDebugDrawArgs.m_removeItemUniqueId = debugItemUniqueId; + return (b3SharedMemoryCommandHandle) command; + +} + +b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient) +{ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type =CMD_USER_DEBUG_DRAW; + command->m_updateFlags = USER_DEBUG_REMOVE_ALL; + return (b3SharedMemoryCommandHandle) command; +} + +int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle) +{ + const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle; + btAssert(status->m_type == CMD_USER_DEBUG_DRAW_COMPLETED); + if (status->m_type != CMD_USER_DEBUG_DRAW_COMPLETED) + return -1; + + return status->m_userDebugDrawArgs.m_debugItemUniqueId; +} + + ///request an image from a simulated camera, using a software renderer. b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient) { @@ -1627,6 +1729,7 @@ b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3PhysicsClientHandle return (b3SharedMemoryCommandHandle)command; } + int b3GetStatusJacobian(b3SharedMemoryStatusHandle statusHandle, double* linearJacobian, double* angularJacobian) { const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index c22b461e5..e82b6824b 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -74,14 +74,22 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info); -///Request debug lines for debug visualization. The flags in debugMode are the same as used in Bullet +///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet ///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle physClient, int debugMode); -///Get the pointers to the debug line information, after b3InitRequestDebugLinesCommand returns +///Get the pointers to the physics debug line information, after b3InitRequestDebugLinesCommand returns ///status CMD_DEBUG_LINES_COMPLETED void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines); +/// Add/remove user-specific debug lines and debug text messages +b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle physClient, double fromXYZ[3], double toXYZ[3], double colorRGB[3], double lineWidth, double lifeTime); +b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime); +b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId); +b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient); +///All debug items unique Ids are positive: a negative unique Id means failure. +int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle); + ///request an image from a simulated camera, using a software renderer. b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient); void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]); diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 03395317c..e2b072b44 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -722,6 +722,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { b3Warning("Load .mjcf failed"); break; } + case CMD_USER_DEBUG_DRAW_COMPLETED: + { + break; + } + case CMD_USER_DEBUG_DRAW_FAILED: + { + b3Warning("User debug draw failed"); + break; + } default: { b3Error("Unknown server status %d\n", serverCmd.m_type); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 6ab941616..b51d5c736 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3363,9 +3363,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; - m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName); + int uid = m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName); - serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED; + if (uid>=0) + { + serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED; + } else + { + serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; + } hasStatus = true; break; @@ -3403,6 +3409,34 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm bool ok = importer->loadFile(relativeFileName); if (ok) { + + + int numRb = importer->getNumRigidBodies(); + serverStatusOut.m_sdfLoadedArgs.m_numBodies = 0; + + for( int i=0;igetRigidBodyByIndex(i); + + if (colObj) + { + btRigidBody* rb = btRigidBody::upcast(colObj); + if (rb) + { + int bodyUniqueId = m_data->allocHandle(); + InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId); + colObj->setUserIndex2(bodyUniqueId); + bodyHandle->m_rigidBody = rb; + + if (serverStatusOut.m_sdfLoadedArgs.m_numBodiesm_guiHelper->autogenerateGraphicsObjects(m_data->m_dynamicsWorld); hasStatus = true; @@ -3441,6 +3475,62 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm break; } + case CMD_USER_DEBUG_DRAW: + { + SharedMemoryStatus& serverCmd = serverStatusOut; + serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED; + hasStatus = true; + + + if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT) + { + int uid = m_data->m_guiHelper->addUserDebugText3D(clientCmd.m_userDebugDrawArgs.m_text, + clientCmd.m_userDebugDrawArgs.m_textPositionXYZ, + clientCmd.m_userDebugDrawArgs.m_textColorRGB, + clientCmd.m_userDebugDrawArgs.m_textSize, + clientCmd.m_userDebugDrawArgs.m_lifeTime); + + if (uid>=0) + { + serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid; + serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED; + } + } + + if (clientCmd.m_updateFlags & USER_DEBUG_HAS_LINE) + { + int uid = m_data->m_guiHelper->addUserDebugLine( + clientCmd.m_userDebugDrawArgs.m_debugLineFromXYZ, + clientCmd.m_userDebugDrawArgs.m_debugLineToXYZ, + clientCmd.m_userDebugDrawArgs.m_debugLineColorRGB, + clientCmd.m_userDebugDrawArgs.m_lineWidth, + clientCmd.m_userDebugDrawArgs.m_lifeTime); + + if (uid>=0) + { + serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid; + serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED; + } + } + + + if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ALL) + { + m_data->m_guiHelper->removeAllUserDebugItems(); + serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED; + + } + if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ONE_ITEM) + { + m_data->m_guiHelper->removeUserDebugItem(clientCmd.m_userDebugDrawArgs.m_removeItemUniqueId); + serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED; + + } + + break; + } + + default: { b3Error("Unknown command encountered"); diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 828fab3f4..4e3ccf253 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -75,6 +75,10 @@ enum MultiThreadedGUIHelperCommunicationEnums eGUIHelperRemoveAllGraphicsInstances, eGUIHelperCopyCameraImageData, eGUIHelperAutogenerateGraphicsObjects, + eGUIUserDebugAddText, + eGUIUserDebugAddLine, + eGUIUserDebugRemoveItem, + eGUIUserDebugRemoveAllItems, }; #include @@ -271,17 +275,43 @@ void* MotionlsMemoryFunc() +struct UserDebugDrawLine +{ + double m_debugLineFromXYZ[3]; + double m_debugLineToXYZ[3]; + double m_debugLineColorRGB[3]; + double m_lineWidth; + + double m_lifeTime; + int m_itemUniqueId; +}; + +struct UserDebugText +{ + char m_text[1024]; + double m_textPositionXYZ[3]; + double m_textColorRGB[3]; + double textSize; + + double m_lifeTime; + int m_itemUniqueId; +}; + + + class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface { CommonGraphicsApp* m_app; b3CriticalSection* m_cs; - + + public: GUIHelperInterface* m_childGuiHelper; + int m_uidGenerator; const unsigned char* m_texels; int m_textureWidth; int m_textureHeight; @@ -305,6 +335,7 @@ public: MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper) :m_app(app) ,m_cs(0), + m_uidGenerator(0), m_texels(0), m_textureId(-1) { @@ -548,6 +579,96 @@ public: virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size) { } + + + + + btAlignedObjectArray m_userDebugText; + + UserDebugText m_tmpText; + + virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double textColorRGB[3], double size, double lifeTime) + { + + m_tmpText.m_itemUniqueId = m_uidGenerator++; + m_tmpText.m_lifeTime = lifeTime; + m_tmpText.textSize = size; + int len = strlen(txt); + strcpy(m_tmpText.m_text,txt); + m_tmpText.m_textPositionXYZ[0] = positionXYZ[0]; + m_tmpText.m_textPositionXYZ[1] = positionXYZ[1]; + m_tmpText.m_textPositionXYZ[2] = positionXYZ[2]; + m_tmpText.m_textColorRGB[0] = textColorRGB[0]; + m_tmpText.m_textColorRGB[1] = textColorRGB[1]; + m_tmpText.m_textColorRGB[2] = textColorRGB[2]; + + m_cs->lock(); + m_cs->setSharedParam(1, eGUIUserDebugAddText); + m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(150); + } + + return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId; + } + + btAlignedObjectArray m_userDebugLines; + UserDebugDrawLine m_tmpLine; + + virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime ) + { + m_tmpLine.m_lifeTime = lifeTime; + m_tmpLine.m_lineWidth = lineWidth; + m_tmpLine.m_itemUniqueId = m_uidGenerator++; + m_tmpLine.m_debugLineFromXYZ[0] = debugLineFromXYZ[0]; + m_tmpLine.m_debugLineFromXYZ[1] = debugLineFromXYZ[1]; + m_tmpLine.m_debugLineFromXYZ[2] = debugLineFromXYZ[2]; + + m_tmpLine.m_debugLineToXYZ[0] = debugLineToXYZ[0]; + m_tmpLine.m_debugLineToXYZ[1] = debugLineToXYZ[1]; + m_tmpLine.m_debugLineToXYZ[2] = debugLineToXYZ[2]; + + m_tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0]; + m_tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1]; + m_tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2]; + + m_cs->lock(); + m_cs->setSharedParam(1, eGUIUserDebugAddLine); + m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(150); + } + return m_userDebugLines[m_userDebugLines.size()-1].m_itemUniqueId; + } + + int m_removeDebugItemUid; + + virtual void removeUserDebugItem( int debugItemUniqueId) + { + m_removeDebugItemUid = debugItemUniqueId; + m_cs->lock(); + m_cs->setSharedParam(1, eGUIUserDebugRemoveItem); + m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(150); + } + + } + virtual void removeAllUserDebugItems( ) + { + m_cs->lock(); + m_cs->setSharedParam(1, eGUIUserDebugRemoveAllItems); + m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(150); + } + + } + }; @@ -935,10 +1056,68 @@ void PhysicsServerExample::stepSimulation(float deltaTime) m_multiThreadedHelper->getCriticalSection()->unlock(); break; } + + case eGUIUserDebugAddText: + { + m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText); + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } + case eGUIUserDebugAddLine: + { + m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine); + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } + case eGUIUserDebugRemoveItem: + { + for (int i=0;im_userDebugLines.size();i++) + { + if (m_multiThreadedHelper->m_userDebugLines[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) + { + m_multiThreadedHelper->m_userDebugLines.swap(i,m_multiThreadedHelper->m_userDebugLines.size()-1); + m_multiThreadedHelper->m_userDebugLines.pop_back(); + break; + } + } + + + for (int i=0;im_userDebugText.size();i++) + { + if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) + { + m_multiThreadedHelper->m_userDebugText.swap(i,m_multiThreadedHelper->m_userDebugText.size()-1); + m_multiThreadedHelper->m_userDebugText.pop_back(); + break; + } + } + + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } + case eGUIUserDebugRemoveAllItems: + { + m_multiThreadedHelper->m_userDebugLines.clear(); + m_multiThreadedHelper->m_userDebugText.clear(); + m_multiThreadedHelper->m_uidGenerator = 0; + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } case eGUIHelperIdle: + { + break; + } default: { - + btAssert(0); } } @@ -993,15 +1172,38 @@ void PhysicsServerExample::renderScene() //add array of lines //draw all user- 'text3d' messages - if (m_guiHelper) + if (m_multiThreadedHelper) { - btVector3 from(0, 0, 0); - btVector3 toX(1, 1, 1); - btVector3 color(0, 1, 0); - double width = 2; - m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, width); + + for (int i=0;im_userDebugLines.size();i++) + { + btVector3 from; + from.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[0], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[1], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[2]); + btVector3 toX; + toX.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[0], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[1], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[2]); + + btVector3 color; + color.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[0], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[1], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[2]); - m_guiHelper->getAppInterface()->drawText3D("hi", 1, 1, 1, 1); + + m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, m_multiThreadedHelper->m_userDebugLines[i].m_lineWidth); + } + + for (int i=0;im_userDebugText.size();i++) + { + m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text, + m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[0], + m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[1], + m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[2], + m_multiThreadedHelper->m_userDebugText[i].textSize); + + } } diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 82925c8f8..69b7916a1 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -500,6 +500,40 @@ struct CreateJointArgs int m_jointType; }; + + +enum EnumUserDebugDrawFlags +{ + USER_DEBUG_HAS_LINE=1, + USER_DEBUG_HAS_TEXT=2, + USER_DEBUG_REMOVE_ONE_ITEM=4, + USER_DEBUG_REMOVE_ALL=8 +}; + +struct UserDebugDrawArgs +{ + double m_debugLineFromXYZ[3]; + double m_debugLineToXYZ[3]; + double m_debugLineColorRGB[3]; + double m_lineWidth; + + double m_lifeTime; + int m_removeItemUniqueId; + + char m_text[MAX_FILENAME_LENGTH]; + double m_textPositionXYZ[3]; + double m_textColorRGB[3]; + double m_textSize; +}; + + + +struct UserDebugDrawResultArgs +{ + int m_debugItemUniqueId; +}; + + struct SharedMemoryCommand { int m_type; @@ -536,6 +570,7 @@ struct SharedMemoryCommand struct UpdateVisualShapeDataArgs m_updateVisualShapeDataArguments; struct LoadTextureArgs m_loadTextureArguments; struct CalculateInverseKinematicsArgs m_calculateInverseKinematicsArguments; + struct UserDebugDrawArgs m_userDebugDrawArgs; struct LoadBunnyArgs m_loadBunnyArguments; }; }; @@ -584,6 +619,7 @@ struct SharedMemoryStatus struct SendOverlappingObjectsArgs m_sendOverlappingObjectsArgs; struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs; struct SendVisualShapeDataArgs m_sendVisualShapeArgs; + struct UserDebugDrawResultArgs m_userDebugDrawArgs; }; }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 47c7e7280..1c2e5835a 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -40,6 +40,8 @@ enum EnumSharedMemoryClientCommand CMD_REQUEST_VISUAL_SHAPE_INFO, CMD_UPDATE_VISUAL_SHAPE, CMD_LOAD_TEXTURE, + CMD_USER_DEBUG_DRAW, + //don't go beyond this command! CMD_MAX_CLIENT_COMMANDS, @@ -100,6 +102,8 @@ enum EnumSharedMemoryServerStatus CMD_VISUAL_SHAPE_UPDATE_FAILED, CMD_LOAD_TEXTURE_COMPLETED, CMD_LOAD_TEXTURE_FAILED, + CMD_USER_DEBUG_DRAW_COMPLETED, + CMD_USER_DEBUG_DRAW_FAILED, //don't go beyond 'CMD_MAX_SERVER_COMMANDS! CMD_MAX_SERVER_COMMANDS }; @@ -239,6 +243,7 @@ struct b3VisualShapeData char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN]; double m_localInertiaFrame[7];//pos[3], orn[4] //todo: add more data if necessary (material color etc, although material can be in asset file .obj file) + double m_rgbaColor[4]; }; struct b3VisualShapeInformation diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 9bf123413..643c7c1c0 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -527,7 +527,11 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const visualShape.m_localInertiaFrame[4] = localInertiaFrame.getRotation()[1]; visualShape.m_localInertiaFrame[5] = localInertiaFrame.getRotation()[2]; visualShape.m_localInertiaFrame[6] = localInertiaFrame.getRotation()[3]; - + visualShape.m_rgbaColor[0] = rgbaColor[0]; + visualShape.m_rgbaColor[1] = rgbaColor[1]; + visualShape.m_rgbaColor[2] = rgbaColor[2]; + visualShape.m_rgbaColor[3] = rgbaColor[3]; + convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures, visualShape); m_data->m_visualShapes.push_back(visualShape); @@ -872,10 +876,14 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int return m_data->m_textures.size()-1; } -void TinyRendererVisualShapeConverter::loadTextureFile(const char* filename) +int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename) { int width,height,n; unsigned char* image=0; image = stbi_load(filename, &width, &height, &n, 3); - registerTexture(image, width, height); + if (image && (width>=0) && (height>=0)) + { + return registerTexture(image, width, height); + } + return -1; } \ No newline at end of file diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index afd0a2ae6..48c5c1079 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -38,7 +38,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void render(); void render(const float viewMat[16], const float projMat[16]); - void loadTextureFile(const char* filename); + int loadTextureFile(const char* filename); int registerTexture(unsigned char* texels, int width, int height); void activateShapeTexture(int shapeUniqueId, int textureUniqueId); void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); diff --git a/examples/SharedMemory/udp/main.cpp b/examples/SharedMemory/udp/main.cpp index 39ae4ea79..bc8c6c57d 100644 --- a/examples/SharedMemory/udp/main.cpp +++ b/examples/SharedMemory/udp/main.cpp @@ -94,7 +94,8 @@ int main(int argc, char *argv[]) switch (event.type) { - case ENET_EVENT_TYPE_CONNECT: + case ENET_EVENT_TYPE_CONNECT: + { printf("A new client connected from %x:%u.\n", event.peer->address.host, event.peer->address.port); @@ -103,8 +104,9 @@ int main(int argc, char *argv[]) event.peer->data = (void*)"Client information"; break; - + } case ENET_EVENT_TYPE_RECEIVE: + { if (gVerboseNetworkMessagesServer) { printf("A packet of length %u containing '%s' was " @@ -171,8 +173,9 @@ int main(int argc, char *argv[]) //enet_host_broadcast(server, 0, event.packet); break; - + } case ENET_EVENT_TYPE_DISCONNECT: + { printf("%s disconnected.\n", event.peer->data); /* Reset the peer's client information. */ @@ -180,6 +183,11 @@ int main(int argc, char *argv[]) event.peer->data = NULL; break; + } + default: + { + + } } } else if (serviceResult > 0) diff --git a/examples/SoftDemo/SoftDemo.cpp b/examples/SoftDemo/SoftDemo.cpp index 7a046f9c4..49b59e444 100644 --- a/examples/SoftDemo/SoftDemo.cpp +++ b/examples/SoftDemo/SoftDemo.cpp @@ -2131,12 +2131,12 @@ void SoftDemo::initPhysics() for (int j=0;j MAX_SDF_BODIES) { + PyErr_SetString(SpamError, "loadBullet exceeds body capacity"); + return NULL; + } + + pylist = PyTuple_New(numBodies); + + if (numBodies > 0 && numBodies <= MAX_SDF_BODIES) { + for (i = 0; i < numBodies; i++) { + PyTuple_SetItem(pylist, i, PyInt_FromLong(bodyIndicesOut[i])); + } + } + return pylist; + + } static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args) @@ -366,7 +383,7 @@ static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index) { return v; } -#define MAX_SDF_BODIES 512 + static PyObject* pybullet_loadSDF(PyObject* self, PyObject* args) { const char* sdfFileName = ""; @@ -1376,12 +1393,14 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) { // // // Args: // vector - float[3] which will be set by values from objMat -static int pybullet_internalSetVector(PyObject* objMat, float vector[3]) { +static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) { int i, len; PyObject* seq; + if (objVec==NULL) + return 0; - seq = PySequence_Fast(objMat, "expected a sequence"); - len = PySequence_Size(objMat); + seq = PySequence_Fast(objVec, "expected a sequence"); + len = PySequence_Size(objVec); if (len == 3) { for (i = 0; i < len; i++) { vector[i] = pybullet_internalGetFloatFromSequence(seq, i); @@ -1397,7 +1416,9 @@ static int pybullet_internalSetVector(PyObject* objMat, float vector[3]) { static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) { int i, len; PyObject* seq; - + if (obVec==NULL) + return 0; + seq = PySequence_Fast(obVec, "expected a sequence"); len = PySequence_Size(obVec); if (len == 3) { @@ -1415,7 +1436,9 @@ static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) { static int pybullet_internalSetVector4(PyObject* obVec, double vector[4]) { int i, len; PyObject* seq; - + if (obVec==NULL) + return 0; + seq = PySequence_Fast(obVec, "expected a sequence"); len = PySequence_Size(obVec); if (len == 4) { @@ -1429,6 +1452,196 @@ static int pybullet_internalSetVector4(PyObject* obVec, double vector[4]) { return 0; } + + +static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject *keywds) +{ + int size = PySequence_Size(args); + + b3SharedMemoryCommandHandle commandHandle; + struct b3ContactInformation contactPointData; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + int res = 0; + + PyObject* pyResultList = 0; + char* text; + double posXYZ[3]; + double colorRGB[3]={1,1,1}; + + + PyObject* textPositionObj=0; + PyObject* textColorRGBObj=0; + double textSize = 1.f; + double lifeTime = 0.f; + + static char *kwlist[] = { "text", "textPosition", "textColorRGB", "textSize", "lifeTime", NULL }; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "sO|Odd", kwlist, &text, &textPositionObj, &textColorRGBObj,&textSize, &lifeTime)) + { + return NULL; + } + + res = pybullet_internalSetVectord(textPositionObj,posXYZ); + if (!res) + { + PyErr_SetString(SpamError, "Error converting lineFrom[3]"); + return NULL; + } + + if (textColorRGBObj) + { + res = pybullet_internalSetVectord(textColorRGBObj,colorRGB); + if (!res) + { + PyErr_SetString(SpamError, "Error converting lineTo[3]"); + return NULL; + } + } + + + commandHandle = b3InitUserDebugDrawAddText3D(sm,text,posXYZ,colorRGB,textSize,lifeTime); + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED) + { + int debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle); + PyObject* item = PyInt_FromLong(debugItemUniqueId); + return item; + } + + PyErr_SetString(SpamError, "Error in addUserDebugText."); + return NULL; +} + + +static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObject *keywds) +{ + int size = PySequence_Size(args); + + b3SharedMemoryCommandHandle commandHandle; + struct b3ContactInformation contactPointData; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + int res = 0; + + PyObject* pyResultList = 0; + + double fromXYZ[3]; + double toXYZ[3]; + double colorRGB[3]={1,1,1}; + + PyObject* lineFromObj=0; + PyObject* lineToObj=0; + PyObject* lineColorRGBObj=0; + double lineWidth = 1.f; + double lifeTime = 0.f; + + static char *kwlist[] = { "lineFromXYZ", "lineToXYZ", "lineColorRGB", "lineWidth", "lifeTime", NULL }; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|Odd", kwlist, &lineFromObj, &lineToObj, &lineColorRGBObj,&lineWidth, &lifeTime)) + { + return NULL; + } + + res = pybullet_internalSetVectord(lineFromObj,fromXYZ); + if (!res) + { + PyErr_SetString(SpamError, "Error converting lineFrom[3]"); + return NULL; + } + + res = pybullet_internalSetVectord(lineToObj,toXYZ); + if (!res) + { + PyErr_SetString(SpamError, "Error converting lineTo[3]"); + return NULL; + } + if (lineColorRGBObj) + { + res = pybullet_internalSetVectord(lineColorRGBObj,colorRGB); + } + + commandHandle = b3InitUserDebugDrawAddLine3D(sm,fromXYZ,toXYZ,colorRGB,lineWidth,lifeTime); + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + if (statusType == CMD_USER_DEBUG_DRAW_COMPLETED) + { + int debugItemUniqueId = b3GetDebugItemUniqueId(statusHandle); + PyObject* item = PyInt_FromLong(debugItemUniqueId); + return item; + } + + PyErr_SetString(SpamError, "Error in addUserDebugLine."); + return NULL; +} + + + + +static PyObject* pybullet_removeUserDebugItem(PyObject* self, PyObject* args, PyObject *keywds) +{ + b3SharedMemoryCommandHandle commandHandle; + struct b3ContactInformation contactPointData; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + int itemUniqueId; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTuple(args, "i", &itemUniqueId)) { + PyErr_SetString(SpamError, "Error parsing user debug item unique id"); + return NULL; + } + + commandHandle = b3InitUserDebugDrawRemove(sm,itemUniqueId); + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + + Py_INCREF(Py_None); + return Py_None; +} + +static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args, PyObject *keywds) +{ + b3SharedMemoryCommandHandle commandHandle; + struct b3ContactInformation contactPointData; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + commandHandle = b3InitUserDebugDrawRemoveAll(sm); + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + + + Py_INCREF(Py_None); + return Py_None; +} + + + static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args) { int size = PySequence_Size(args); @@ -1509,7 +1722,7 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args) PyTuple_SetItem(visualShapeObList, 6, vec); } - + visualShapeInfo.m_visualShapeData[0].m_rgbaColor[0]; PyTuple_SetItem(pyResultList, i, visualShapeObList); } @@ -2687,6 +2900,30 @@ static PyMethodDef SpamMethods[] = { "axis-aligned bounding box volume (AABB)." "Input are two vectors defining the AABB in world space [min_x,min_y,min_z],[max_x,max_y,max_z]." }, + + + { "addUserDebugLine", (PyCFunction)pybullet_addUserDebugLine, METH_VARARGS | METH_KEYWORDS, + "Add a user debug draw line with lineFrom[3], lineTo[3], lineColorRGB[3], lineWidth, lifeTime. " + "A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item." + }, + + + { "addUserDebugText", (PyCFunction)pybullet_addUserDebugText, METH_VARARGS | METH_KEYWORDS, + "Add a user debug draw line with text, textPosition[3], textSize and lifeTime in seconds " + "A lifeTime of 0 means permanent until removed. Returns a unique id for the user debug item." + }, + + { "removeUserDebugItem", (PyCFunction)pybullet_removeUserDebugItem, METH_VARARGS | METH_KEYWORDS, + "remove a user debug draw item, giving its unique id" + }, + + + { "removeAllUserDebugItems", (PyCFunction)pybullet_removeAllUserDebugItems, METH_VARARGS | METH_KEYWORDS, + "remove all user debug draw items" + }, + + + {"getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS, "Return the visual shape information for one object." }, From c0fb98861d3274fb9cd9b2f25141d4ef34c916ac Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Mon, 14 Nov 2016 14:08:05 -0800 Subject: [PATCH 041/102] add quadruped.py script to load and initialize the a Minitaur-like quadruped pybullet removeConstraint, createConstraint rename b3CreateJoint to b3InitCreateUserConstraintCommand add int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle); b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId); --- examples/SharedMemory/PhysicsClientC_API.cpp | 52 ++++- examples/SharedMemory/PhysicsClientC_API.h | 4 +- .../PhysicsClientSharedMemory.cpp | 10 +- examples/SharedMemory/PhysicsDirect.cpp | 12 +- .../PhysicsServerCommandProcessor.cpp | 214 ++++++++++++------ examples/SharedMemory/SharedMemoryCommands.h | 18 +- examples/SharedMemory/SharedMemoryPublic.h | 4 +- examples/pybullet/pybullet.c | 160 ++++++++++++- examples/pybullet/quadruped.py | 35 +++ 9 files changed, 420 insertions(+), 89 deletions(-) create mode 100644 examples/pybullet/quadruped.py diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index b4f797e44..be798c68f 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -960,7 +960,9 @@ int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointInd return cl->getJointInfo(bodyIndex, jointIndex, *info); } -b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info) + + +b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info) { PhysicsClient* cl = (PhysicsClient* ) physClient; b3Assert(cl); @@ -968,22 +970,52 @@ b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); b3Assert(command); - command->m_type = CMD_CREATE_JOINT; - command->m_createJointArguments.m_parentBodyIndex = parentBodyIndex; - command->m_createJointArguments.m_parentJointIndex = parentJointIndex; - command->m_createJointArguments.m_childBodyIndex = childBodyIndex; - command->m_createJointArguments.m_childJointIndex = childJointIndex; + command->m_type = CMD_USER_CONSTRAINT; + command->m_updateFlags = USER_CONSTRAINT_ADD_CONSTRAINT; + + command->m_userConstraintArguments.m_parentBodyIndex = parentBodyIndex; + command->m_userConstraintArguments.m_parentJointIndex = parentJointIndex; + command->m_userConstraintArguments.m_childBodyIndex = childBodyIndex; + command->m_userConstraintArguments.m_childJointIndex = childJointIndex; for (int i = 0; i < 7; ++i) { - command->m_createJointArguments.m_parentFrame[i] = info->m_parentFrame[i]; - command->m_createJointArguments.m_childFrame[i] = info->m_childFrame[i]; + command->m_userConstraintArguments.m_parentFrame[i] = info->m_parentFrame[i]; + command->m_userConstraintArguments.m_childFrame[i] = info->m_childFrame[i]; } for (int i = 0; i < 3; ++i) { - command->m_createJointArguments.m_jointAxis[i] = info->m_jointAxis[i]; + command->m_userConstraintArguments.m_jointAxis[i] = info->m_jointAxis[i]; } - command->m_createJointArguments.m_jointType = info->m_jointType; + command->m_userConstraintArguments.m_jointType = info->m_jointType; return (b3SharedMemoryCommandHandle)command; } +b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId) +{ + PhysicsClient* cl = (PhysicsClient* ) physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + + command->m_type = CMD_USER_CONSTRAINT; + command->m_updateFlags = USER_CONSTRAINT_REMOVE_CONSTRAINT; + command->m_userConstraintArguments.m_userConstraintUniqueId = userConstraintUniqueId; + return (b3SharedMemoryCommandHandle)command; +} +int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle) +{ + const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle; + b3Assert(status); + b3Assert(status->m_type == CMD_USER_CONSTRAINT_COMPLETED); + if (status && status->m_type == CMD_USER_CONSTRAINT_COMPLETED) + { + return status->m_userConstraintResultArgs.m_userConstraintUniqueId; + } + + return -1; + +} + + b3SharedMemoryCommandHandle b3PickBody(b3PhysicsClientHandle physClient, double rayFromWorldX, double rayFromWorldY, double rayFromWorldZ, double rayToWorldX, double rayToWorldY, double rayToWorldZ) diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index e82b6824b..18eba1c0a 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -72,7 +72,9 @@ int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyIndex); ///given a body and joint index, return the joint information. See b3JointInfo in SharedMemoryPublic.h int b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info); -b3SharedMemoryCommandHandle b3CreateJoint(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info); +b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info); +int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle); +b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId); ///Request physics debug lines for debug visualization. The flags in debugMode are the same as used in Bullet ///See btIDebugDraw::DebugDrawModes in Bullet/src/LinearMath/btIDebugDraw.h diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index e2b072b44..9a323933a 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -731,7 +731,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() { b3Warning("User debug draw failed"); break; } - + case CMD_USER_CONSTRAINT_COMPLETED: + { + break; + } + case CMD_USER_CONSTRAINT_FAILED: + { + b3Warning("createConstraint failed"); + break; + } default: { b3Error("Unknown server status %d\n", serverCmd.m_type); btAssert(0); diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp index 011204e80..cb7a16abd 100644 --- a/examples/SharedMemory/PhysicsDirect.cpp +++ b/examples/SharedMemory/PhysicsDirect.cpp @@ -671,10 +671,18 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd { break; } - + case CMD_USER_CONSTRAINT_COMPLETED: + { + break; + } + case CMD_USER_CONSTRAINT_FAILED: + { + b3Warning("createConstraint failed"); + break; + } default: { - b3Warning("Unknown server status type"); + //b3Warning("Unknown server status type"); } }; diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index b51d5c736..0a2cc253e 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -123,6 +123,17 @@ struct InteralBodyData } }; +struct InteralUserConstraintData +{ + btTypedConstraint* m_rbConstraint; + btMultiBodyConstraint* m_mbConstraint; + InteralUserConstraintData() + :m_rbConstraint(0), + m_mbConstraint(0) + { + } +}; + ///todo: templatize this struct InternalBodyHandle : public InteralBodyData { @@ -468,6 +479,10 @@ struct PhysicsServerCommandProcessorInternalData btAlignedObjectArray m_multiBodyJointFeedbacks; btHashMap m_inverseDynamicsBodies; btHashMap m_inverseKinematicsHelpers; + + int m_userConstraintUIDGenerator; + btHashMap m_userConstraints; + b3AlignedObjectArray m_saveWorldBodyData; @@ -532,6 +547,7 @@ struct PhysicsServerCommandProcessorInternalData m_logPlayback(0), m_physicsDeltaTime(1./240.), m_numSimulationSubSteps(0), + m_userConstraintUIDGenerator(1), m_dynamicsWorld(0), m_remoteDebugDrawer(0), m_guiHelper(0), @@ -3097,72 +3113,144 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm hasStatus = true; break; } - case CMD_CREATE_JOINT: + case CMD_USER_CONSTRAINT: { - InteralBodyData* parentBody = m_data->getHandle(clientCmd.m_createJointArguments.m_parentBodyIndex); - if (parentBody && parentBody->m_multiBody) - { - InteralBodyData* childBody = m_data->getHandle(clientCmd.m_createJointArguments.m_childBodyIndex); - if (childBody) - { - btVector3 pivotInParent(clientCmd.m_createJointArguments.m_parentFrame[0], clientCmd.m_createJointArguments.m_parentFrame[1], clientCmd.m_createJointArguments.m_parentFrame[2]); - btVector3 pivotInChild(clientCmd.m_createJointArguments.m_childFrame[0], clientCmd.m_createJointArguments.m_childFrame[1], clientCmd.m_createJointArguments.m_childFrame[2]); - btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_createJointArguments.m_parentFrame[3], clientCmd.m_createJointArguments.m_parentFrame[4], clientCmd.m_createJointArguments.m_parentFrame[5], clientCmd.m_createJointArguments.m_parentFrame[6])); - btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_createJointArguments.m_childFrame[3], clientCmd.m_createJointArguments.m_childFrame[4], clientCmd.m_createJointArguments.m_childFrame[5], clientCmd.m_createJointArguments.m_childFrame[6])); - btVector3 jointAxis(clientCmd.m_createJointArguments.m_jointAxis[0], clientCmd.m_createJointArguments.m_jointAxis[1], clientCmd.m_createJointArguments.m_jointAxis[2]); - if (clientCmd.m_createJointArguments.m_jointType == eFixedType) - { - if (childBody->m_multiBody) - { - btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild); - multibodyFixed->setMaxAppliedImpulse(500.0); - m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed); - } - else - { - btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild); - rigidbodyFixed->setMaxAppliedImpulse(500.0); - btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; - world->addMultiBodyConstraint(rigidbodyFixed); - } - } - else if (clientCmd.m_createJointArguments.m_jointType == ePrismaticType) - { - if (childBody->m_multiBody) - { - btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis); - multibodySlider->setMaxAppliedImpulse(500.0); - m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider); - } - else - { - btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis); - rigidbodySlider->setMaxAppliedImpulse(500.0); - btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; - world->addMultiBodyConstraint(rigidbodySlider); - } - } else if (clientCmd.m_createJointArguments.m_jointType == ePoint2PointType) - { - if (childBody->m_multiBody) - { - btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_createJointArguments.m_childJointIndex,pivotInParent,pivotInChild); - p2p->setMaxAppliedImpulse(500); - m_data->m_dynamicsWorld->addMultiBodyConstraint(p2p); - } - else - { - btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_createJointArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild); - p2p->setMaxAppliedImpulse(500); - btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; - world->addMultiBodyConstraint(p2p); - } - } - - } - } SharedMemoryStatus& serverCmd =serverStatusOut; - serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED; + serverCmd.m_type = CMD_USER_CONSTRAINT_FAILED; hasStatus = true; + + if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT) + { + InteralBodyData* parentBody = m_data->getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex); + if (parentBody && parentBody->m_multiBody) + { + InteralBodyData* childBody = m_data->getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex); + if (childBody) + { + btVector3 pivotInParent(clientCmd.m_userConstraintArguments.m_parentFrame[0], clientCmd.m_userConstraintArguments.m_parentFrame[1], clientCmd.m_userConstraintArguments.m_parentFrame[2]); + btVector3 pivotInChild(clientCmd.m_userConstraintArguments.m_childFrame[0], clientCmd.m_userConstraintArguments.m_childFrame[1], clientCmd.m_userConstraintArguments.m_childFrame[2]); + btMatrix3x3 frameInParent(btQuaternion(clientCmd.m_userConstraintArguments.m_parentFrame[3], clientCmd.m_userConstraintArguments.m_parentFrame[4], clientCmd.m_userConstraintArguments.m_parentFrame[5], clientCmd.m_userConstraintArguments.m_parentFrame[6])); + btMatrix3x3 frameInChild(btQuaternion(clientCmd.m_userConstraintArguments.m_childFrame[3], clientCmd.m_userConstraintArguments.m_childFrame[4], clientCmd.m_userConstraintArguments.m_childFrame[5], clientCmd.m_userConstraintArguments.m_childFrame[6])); + btVector3 jointAxis(clientCmd.m_userConstraintArguments.m_jointAxis[0], clientCmd.m_userConstraintArguments.m_jointAxis[1], clientCmd.m_userConstraintArguments.m_jointAxis[2]); + if (clientCmd.m_userConstraintArguments.m_jointType == eFixedType) + { + if (childBody->m_multiBody) + { + btMultiBodyFixedConstraint* multibodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild); + multibodyFixed->setMaxAppliedImpulse(500.0); + m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodyFixed); + InteralUserConstraintData userConstraintData; + userConstraintData.m_mbConstraint = multibodyFixed; + int uid = m_data->m_userConstraintUIDGenerator++; + m_data->m_userConstraints.insert(uid,userConstraintData); + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + + } + else + { + btMultiBodyFixedConstraint* rigidbodyFixed = new btMultiBodyFixedConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild); + rigidbodyFixed->setMaxAppliedImpulse(500.0); + btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; + world->addMultiBodyConstraint(rigidbodyFixed); + InteralUserConstraintData userConstraintData; + userConstraintData.m_mbConstraint = rigidbodyFixed; + int uid = m_data->m_userConstraintUIDGenerator++; + m_data->m_userConstraints.insert(uid,userConstraintData); + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + } + + } + else if (clientCmd.m_userConstraintArguments.m_jointType == ePrismaticType) + { + if (childBody->m_multiBody) + { + btMultiBodySliderConstraint* multibodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis); + multibodySlider->setMaxAppliedImpulse(500.0); + m_data->m_dynamicsWorld->addMultiBodyConstraint(multibodySlider); + InteralUserConstraintData userConstraintData; + userConstraintData.m_mbConstraint = multibodySlider; + int uid = m_data->m_userConstraintUIDGenerator++; + m_data->m_userConstraints.insert(uid,userConstraintData); + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + } + else + { + btMultiBodySliderConstraint* rigidbodySlider = new btMultiBodySliderConstraint(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild,frameInParent,frameInChild,jointAxis); + rigidbodySlider->setMaxAppliedImpulse(500.0); + btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; + world->addMultiBodyConstraint(rigidbodySlider); + InteralUserConstraintData userConstraintData; + userConstraintData.m_mbConstraint = rigidbodySlider; + int uid = m_data->m_userConstraintUIDGenerator++; + m_data->m_userConstraints.insert(uid,userConstraintData); + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + } + + } else if (clientCmd.m_userConstraintArguments.m_jointType == ePoint2PointType) + { + if (childBody->m_multiBody) + { + btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_multiBody,clientCmd.m_userConstraintArguments.m_childJointIndex,pivotInParent,pivotInChild); + p2p->setMaxAppliedImpulse(500); + m_data->m_dynamicsWorld->addMultiBodyConstraint(p2p); + InteralUserConstraintData userConstraintData; + userConstraintData.m_mbConstraint = p2p; + int uid = m_data->m_userConstraintUIDGenerator++; + m_data->m_userConstraints.insert(uid,userConstraintData); + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + } + else + { + btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(parentBody->m_multiBody,clientCmd.m_userConstraintArguments.m_parentJointIndex,childBody->m_rigidBody,pivotInParent,pivotInChild); + p2p->setMaxAppliedImpulse(500); + btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld; + world->addMultiBodyConstraint(p2p); + InteralUserConstraintData userConstraintData; + userConstraintData.m_mbConstraint = p2p; + int uid = m_data->m_userConstraintUIDGenerator++; + m_data->m_userConstraints.insert(uid,userConstraintData); + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = uid; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + } + + } else + { + b3Warning("unknown constraint type"); + } + + + } + } + } + + if (clientCmd.m_updateFlags & USER_CONSTRAINT_REMOVE_CONSTRAINT) + { + int userConstraintUidRemove = clientCmd.m_userConstraintArguments.m_userConstraintUniqueId; + InteralUserConstraintData* userConstraintPtr = m_data->m_userConstraints.find(userConstraintUidRemove); + if (userConstraintPtr) + { + if (userConstraintPtr->m_mbConstraint) + { + m_data->m_dynamicsWorld->removeMultiBodyConstraint(userConstraintPtr->m_mbConstraint); + delete userConstraintPtr->m_mbConstraint; + m_data->m_userConstraints.remove(userConstraintUidRemove); + } + if (userConstraintPtr->m_rbConstraint) + { + + } + serverCmd.m_userConstraintResultArgs.m_userConstraintUniqueId = -1; + serverCmd.m_type = CMD_USER_CONSTRAINT_COMPLETED; + } + + + } + break; } case CMD_CALCULATE_INVERSE_KINEMATICS: diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 69b7916a1..715bdd11d 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -488,7 +488,14 @@ struct CalculateInverseKinematicsResultArgs double m_jointPositions[MAX_DEGREE_OF_FREEDOM]; }; -struct CreateJointArgs +enum EnumUserConstraintFlags +{ + USER_CONSTRAINT_ADD_CONSTRAINT=1, + USER_CONSTRAINT_REMOVE_CONSTRAINT=2, + USER_CONSTRAINT_CHANGE_CONSTRAINT=4 +}; + +struct UserConstraintArgs { int m_parentBodyIndex; int m_parentJointIndex; @@ -498,9 +505,13 @@ struct CreateJointArgs double m_childFrame[7]; double m_jointAxis[3]; int m_jointType; + int m_userConstraintUniqueId; }; - +struct UserConstraintResultArgs +{ + int m_userConstraintUniqueId; +}; enum EnumUserDebugDrawFlags { @@ -563,7 +574,7 @@ struct SharedMemoryCommand struct ExternalForceArgs m_externalForceArguments; struct CalculateInverseDynamicsArgs m_calculateInverseDynamicsArguments; struct CalculateJacobianArgs m_calculateJacobianArguments; - struct CreateJointArgs m_createJointArguments; + struct UserConstraintArgs m_userConstraintArguments; struct RequestContactDataArgs m_requestContactPointArguments; struct RequestOverlappingObjectsArgs m_requestOverlappingObjectsArgs; struct RequestVisualShapeDataArgs m_requestVisualShapeDataArguments; @@ -620,6 +631,7 @@ struct SharedMemoryStatus struct CalculateInverseKinematicsResultArgs m_inverseKinematicsResultArgs; struct SendVisualShapeDataArgs m_sendVisualShapeArgs; struct UserDebugDrawResultArgs m_userDebugDrawArgs; + struct UserConstraintResultArgs m_userConstraintResultArgs; }; }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 1c2e5835a..d6a8e246a 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -33,7 +33,7 @@ enum EnumSharedMemoryClientCommand CMD_CALCULATE_INVERSE_DYNAMICS, CMD_CALCULATE_INVERSE_KINEMATICS, CMD_CALCULATE_JACOBIAN, - CMD_CREATE_JOINT, + CMD_USER_CONSTRAINT, CMD_REQUEST_CONTACT_POINT_INFORMATION, CMD_REQUEST_AABB_OVERLAP, CMD_SAVE_WORLD, @@ -104,6 +104,8 @@ enum EnumSharedMemoryServerStatus CMD_LOAD_TEXTURE_FAILED, CMD_USER_DEBUG_DRAW_COMPLETED, CMD_USER_DEBUG_DRAW_FAILED, + CMD_USER_CONSTRAINT_COMPLETED, + CMD_USER_CONSTRAINT_FAILED, //don't go beyond 'CMD_MAX_SERVER_COMMANDS! CMD_MAX_SERVER_COMMANDS }; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 79153c09a..47aaee9d9 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -263,7 +263,8 @@ static PyObject* pybullet_saveBullet(PyObject* self, PyObject* args) } command = b3SaveBulletCommandInit(sm, bulletFileName); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); - if (statusHandle != CMD_BULLET_SAVING_COMPLETED) + statusType = b3GetStatusType(statusHandle); + if (statusType != CMD_BULLET_SAVING_COMPLETED) { PyErr_SetString(SpamError, "Couldn't save .bullet file."); return NULL; @@ -291,7 +292,8 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args) } command = b3LoadMJCFCommandInit(sm, mjcfjFileName); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); - if (statusHandle != CMD_MJCF_LOADING_COMPLETED) + statusType = b3GetStatusType(statusHandle); + if (statusType != CMD_MJCF_LOADING_COMPLETED) { PyErr_SetString(SpamError, "Couldn't load .mjcf file."); return NULL; @@ -1433,7 +1435,7 @@ static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) { } // vector - double[3] which will be set by values from obVec -static int pybullet_internalSetVector4(PyObject* obVec, double vector[4]) { +static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4]) { int i, len; PyObject* seq; if (obVec==NULL) @@ -1459,7 +1461,6 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj int size = PySequence_Size(args); b3SharedMemoryCommandHandle commandHandle; - struct b3ContactInformation contactPointData; b3SharedMemoryStatusHandle statusHandle; int statusType; int res = 0; @@ -1526,7 +1527,6 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj int size = PySequence_Size(args); b3SharedMemoryCommandHandle commandHandle; - struct b3ContactInformation contactPointData; b3SharedMemoryStatusHandle statusHandle; int statusType; int res = 0; @@ -1594,7 +1594,6 @@ static PyObject* pybullet_addUserDebugLine(PyObject* self, PyObject* args, PyObj static PyObject* pybullet_removeUserDebugItem(PyObject* self, PyObject* args, PyObject *keywds) { b3SharedMemoryCommandHandle commandHandle; - struct b3ContactInformation contactPointData; b3SharedMemoryStatusHandle statusHandle; int statusType; int itemUniqueId; @@ -1621,7 +1620,6 @@ static PyObject* pybullet_removeUserDebugItem(PyObject* self, PyObject* args, Py static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args, PyObject *keywds) { b3SharedMemoryCommandHandle commandHandle; - struct b3ContactInformation contactPointData; b3SharedMemoryStatusHandle statusHandle; int statusType; @@ -2016,6 +2014,144 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py return Py_None; } +static PyObject* pybullet_removeUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) +{ + static char *kwlist[] = { "userConstraintUniqueId",NULL}; + int userConstraintUniqueId=-1; + b3SharedMemoryCommandHandle commandHandle; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + + + if (0 == sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "i", kwlist,&userConstraintUniqueId)) + { + return NULL; + } + + commandHandle = b3InitRemoveUserConstraintCommand(sm,userConstraintUniqueId); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + Py_INCREF(Py_None); + return Py_None; +}; + + +/* +static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) +{ + return NULL; +} +*/ + +static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) +{ + int size = PySequence_Size(args); + int bodyUniqueIdA = -1; + int bodyUniqueIdB = -1; + + b3SharedMemoryCommandHandle commandHandle; + int parentBodyUniqueId=-1; + int parentLinkIndex=-1; + int childBodyUniqueId=-1; + int childLinkIndex=-1; + int jointType=ePoint2PointType; + PyObject* jointAxisObj=0; + double jointAxis[3]={0,0,0}; + PyObject* parentFramePositionObj = 0; + double parentFramePosition[3]={0,0,0}; + PyObject* childFramePositionObj = 0; + double childFramePosition[3]={0,0,0}; + PyObject* parentFrameOrientationObj = 0; + double parentFrameOrientation[4]={0,0,0,1}; + PyObject* childFrameOrientationObj = 0; + double childFrameOrientation[4]={0,0,0,1}; + + struct b3JointInfo jointInfo; + b3SharedMemoryStatusHandle statusHandle; + int statusType; + PyObject* pyResultList = 0; + + + static char *kwlist[] = { "parentBodyUniqueId", "parentLinkIndex", + "childBodyUniqueId", "childLinkIndex", + "jointType", + "jointAxis", + "parentFramePosition", + "childFramePosition", + "parentFrameOrientation", + "childFrameOrientation", + NULL }; + + if (0 == sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiiiiOOO|OO", kwlist,&parentBodyUniqueId,&parentLinkIndex, + &childBodyUniqueId,&childLinkIndex, + &jointType,&jointAxisObj, + &parentFramePositionObj, + &childFramePositionObj, + &parentFrameOrientationObj, + &childFrameOrientationObj + )) + { + return NULL; + } + + pybullet_internalSetVectord(jointAxisObj,jointAxis); + pybullet_internalSetVectord(parentFramePositionObj,parentFramePosition); + pybullet_internalSetVectord(childFramePositionObj,childFramePosition); + pybullet_internalSetVector4d(parentFrameOrientationObj,parentFrameOrientation); + pybullet_internalSetVector4d(childFrameOrientationObj,childFrameOrientation); + + jointInfo.m_jointType = jointType; + jointInfo.m_parentFrame[0] = parentFramePosition[0]; + jointInfo.m_parentFrame[1] = parentFramePosition[1]; + jointInfo.m_parentFrame[2] = parentFramePosition[2]; + jointInfo.m_parentFrame[3] = parentFrameOrientation[0]; + jointInfo.m_parentFrame[4] = parentFrameOrientation[1]; + jointInfo.m_parentFrame[5] = parentFrameOrientation[2]; + jointInfo.m_parentFrame[6] = parentFrameOrientation[3]; + + jointInfo.m_childFrame[0] = childFramePosition[0]; + jointInfo.m_childFrame[1] = childFramePosition[1]; + jointInfo.m_childFrame[2] = childFramePosition[2]; + jointInfo.m_childFrame[3] = childFrameOrientation[0]; + jointInfo.m_childFrame[4] = childFrameOrientation[1]; + jointInfo.m_childFrame[5] = childFrameOrientation[2]; + jointInfo.m_childFrame[6] = childFrameOrientation[3]; + + jointInfo.m_jointAxis[0] = jointAxis[0]; + jointInfo.m_jointAxis[1] = jointAxis[1]; + jointInfo.m_jointAxis[2] = jointAxis[2]; + + commandHandle = b3InitCreateUserConstraintCommand(sm, parentBodyUniqueId, parentLinkIndex, childBodyUniqueId, childLinkIndex, &jointInfo); + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + statusType = b3GetStatusType(statusHandle); + if (statusType==CMD_USER_CONSTRAINT_COMPLETED) + { + int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle); + PyObject* ob = PyLong_FromLong(userConstraintUid); + return ob; + } else + { + PyErr_SetString(SpamError, "createConstraint failed."); + return NULL; + } + + Py_INCREF(Py_None); + return Py_None; + +} static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) { int size = PySequence_Size(args); @@ -2594,7 +2730,7 @@ static PyObject* pybullet_calculateInverseKinematicsKuka(PyObject* self, double pos[3]; double ori[4]={0,1.0,0,0}; - if (pybullet_internalSetVectord(targetPosObj,pos) && pybullet_internalSetVector4(targetOrnObj,ori)) + if (pybullet_internalSetVectord(targetPosObj,pos) && pybullet_internalSetVector4d(targetOrnObj,ori)) { b3SharedMemoryStatusHandle statusHandle; int numPos=0; @@ -2820,6 +2956,14 @@ static PyMethodDef SpamMethods[] = { { "loadMJCF", pybullet_loadMJCF, METH_VARARGS, "Load multibodies from an MJCF file." }, + {"createConstraint", (PyCFunction)pybullet_createUserConstraint, METH_VARARGS | METH_KEYWORDS, + "Create a constraint between two bodies. Returns a (int) unique id, if successfull." + }, + + {"removeConstraint", (PyCFunction)pybullet_removeUserConstraint, METH_VARARGS | METH_KEYWORDS, + "Remove a constraint using its unique id." + }, + {"saveWorld", pybullet_saveWorld, METH_VARARGS, "Save a approximate Python file to reproduce the current state of the world: saveWorld" "(filename). (very preliminary and approximately)"}, diff --git a/examples/pybullet/quadruped.py b/examples/pybullet/quadruped.py new file mode 100644 index 000000000..a1062f3eb --- /dev/null +++ b/examples/pybullet/quadruped.py @@ -0,0 +1,35 @@ +import pybullet as p +p.connect(p.GUI) +p.loadURDF("plane.urdf") +p.loadURDF("quadruped/quadruped.urdf",0,0,0.2) +#p.getNumJoints(1) + +#right front leg +p.resetJointState(1,0,1.57) +p.resetJointState(1,2,-2.2) +p.resetJointState(1,3,-1.57) +p.resetJointState(1,5,2.2) +p.createConstraint(1,2,1,5,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2]) + +#left front leg +p.resetJointState(1,6,1.57) +p.resetJointState(1,8,-2.2) +p.resetJointState(1,9,-1.57) +p.resetJointState(1,11,2.2) +p.createConstraint(1,8,1,11,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2]) + +#right back leg +p.resetJointState(1,12,1.57) +p.resetJointState(1,14,-2.2) +p.resetJointState(1,15,-1.57) +p.resetJointState(1,17,2.2) +p.createConstraint(1,14,1,17,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2]) + +#left back leg +p.resetJointState(1,18,1.57) +p.resetJointState(1,20,-2.2) +p.resetJointState(1,21,-1.57) +p.resetJointState(1,23,2.2) +p.createConstraint(1,20,1,23,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2]) + + \ No newline at end of file From d0cbfc590522511f06986b402e6d5cfc409ce2bd Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Mon, 14 Nov 2016 14:09:57 -0800 Subject: [PATCH 042/102] add humanoid/nao.urdf (BSD license) --- data/humanoid/LICENSE.txt | 26 + data/humanoid/nao.urdf | 2663 +++++++++++++++++ .../nao_meshes/meshes/V40/HeadPitch_0.10.stl | Bin 0 -> 392334 bytes .../nao_meshes/meshes/V40/HeadYaw_0.10.stl | Bin 0 -> 484 bytes .../meshes/V40/LAnklePitch_0.10.stl | Bin 0 -> 734 bytes .../nao_meshes/meshes/V40/LAnkleRoll_0.10.stl | Bin 0 -> 15734 bytes .../nao_meshes/meshes/V40/LElbowRoll_0.10.stl | Bin 0 -> 4234 bytes .../nao_meshes/meshes/V40/LFinger11_0.10.stl | Bin 0 -> 5634 bytes .../nao_meshes/meshes/V40/LFinger12_0.10.stl | Bin 0 -> 5634 bytes .../nao_meshes/meshes/V40/LFinger13_0.10.stl | Bin 0 -> 4984 bytes .../nao_meshes/meshes/V40/LFinger21_0.10.stl | Bin 0 -> 5634 bytes .../nao_meshes/meshes/V40/LFinger22_0.10.stl | Bin 0 -> 5634 bytes .../nao_meshes/meshes/V40/LFinger23_0.10.stl | Bin 0 -> 4984 bytes .../nao_meshes/meshes/V40/LHipPitch_0.10.stl | Bin 0 -> 11334 bytes .../nao_meshes/meshes/V40/LHipRoll_0.10.stl | Bin 0 -> 534 bytes .../meshes/V40/LHipYawPitch_0.10.stl | Bin 0 -> 14934 bytes .../nao_meshes/meshes/V40/LKneePitch_0.10.stl | Bin 0 -> 17134 bytes .../meshes/V40/LShoulderPitch_0.10.stl | Bin 0 -> 1084 bytes .../meshes/V40/LShoulderRoll_0.10.stl | Bin 0 -> 20834 bytes .../nao_meshes/meshes/V40/LThumb1_0.10.stl | Bin 0 -> 5584 bytes .../nao_meshes/meshes/V40/LThumb2_0.10.stl | Bin 0 -> 4984 bytes .../nao_meshes/meshes/V40/LWristYaw_0.10.stl | Bin 0 -> 206334 bytes .../meshes/V40/RAnklePitch_0.10.stl | Bin 0 -> 734 bytes .../nao_meshes/meshes/V40/RAnkleRoll_0.10.stl | Bin 0 -> 15734 bytes .../nao_meshes/meshes/V40/RElbowRoll_0.10.stl | Bin 0 -> 4184 bytes .../nao_meshes/meshes/V40/RFinger11_0.10.stl | Bin 0 -> 5584 bytes .../nao_meshes/meshes/V40/RFinger12_0.10.stl | Bin 0 -> 5634 bytes .../nao_meshes/meshes/V40/RFinger13_0.10.stl | Bin 0 -> 4984 bytes .../nao_meshes/meshes/V40/RFinger21_0.10.stl | Bin 0 -> 5634 bytes .../nao_meshes/meshes/V40/RFinger22_0.10.stl | Bin 0 -> 5634 bytes .../nao_meshes/meshes/V40/RFinger23_0.10.stl | Bin 0 -> 4984 bytes .../nao_meshes/meshes/V40/RHipPitch_0.10.stl | Bin 0 -> 11334 bytes .../nao_meshes/meshes/V40/RHipRoll_0.10.stl | Bin 0 -> 534 bytes .../meshes/V40/RHipYawPitch_0.10.stl | Bin 0 -> 14934 bytes .../nao_meshes/meshes/V40/RKneePitch_0.10.stl | Bin 0 -> 17134 bytes .../meshes/V40/RShoulderPitch_0.10.stl | Bin 0 -> 1084 bytes .../meshes/V40/RShoulderRoll_0.10.stl | Bin 0 -> 20834 bytes .../nao_meshes/meshes/V40/RThumb1_0.10.stl | Bin 0 -> 5584 bytes .../nao_meshes/meshes/V40/RThumb2_0.10.stl | Bin 0 -> 4984 bytes .../nao_meshes/meshes/V40/RWristYaw_0.10.stl | Bin 0 -> 20684 bytes .../nao_meshes/meshes/V40/Torso_0.10.stl | Bin 0 -> 36184 bytes 41 files changed, 2689 insertions(+) create mode 100644 data/humanoid/LICENSE.txt create mode 100644 data/humanoid/nao.urdf create mode 100644 data/humanoid/nao_meshes/meshes/V40/HeadPitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/HeadYaw_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LAnklePitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LAnkleRoll_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LElbowRoll_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LFinger11_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LFinger12_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LFinger13_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LFinger21_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LFinger22_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LFinger23_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LHipPitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LHipRoll_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LHipYawPitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LKneePitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LShoulderPitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LShoulderRoll_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LThumb1_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LThumb2_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/LWristYaw_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RAnklePitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RAnkleRoll_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RElbowRoll_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RFinger11_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RFinger12_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RFinger13_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RFinger21_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RFinger22_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RFinger23_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RHipPitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RHipRoll_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RHipYawPitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RKneePitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RShoulderPitch_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RShoulderRoll_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RThumb1_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RThumb2_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/RWristYaw_0.10.stl create mode 100644 data/humanoid/nao_meshes/meshes/V40/Torso_0.10.stl diff --git a/data/humanoid/LICENSE.txt b/data/humanoid/LICENSE.txt new file mode 100644 index 000000000..8922f23f1 --- /dev/null +++ b/data/humanoid/LICENSE.txt @@ -0,0 +1,26 @@ +Copyright (c) 2009-2013, A. Hornung, University of Freiburg +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the University of Freiburg nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/data/humanoid/nao.urdf b/data/humanoid/nao.urdf new file mode 100644 index 000000000..ed0f7cbbd --- /dev/null +++ b/data/humanoid/nao.urdf @@ -0,0 +1,2663 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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0092a1a55d23de3843ad6354be79336f02c156fc Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 14 Nov 2016 16:14:27 -0800 Subject: [PATCH 043/102] fix API to use b3InitCreateUserConstraintCommand instead of b3CreateJoint --- examples/RoboticsLearning/b3RobotSimAPI.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp index 5106b6eeb..f4ad1fcb5 100644 --- a/examples/RoboticsLearning/b3RobotSimAPI.cpp +++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp @@ -683,7 +683,7 @@ void b3RobotSimAPI::createJoint(int parentBodyIndex, int parentJointIndex, int c b3Assert(b3CanSubmitCommand(m_data->m_physicsClient)); if (b3CanSubmitCommand(m_data->m_physicsClient)) { - statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3CreateJoint(m_data->m_physicsClient, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo)); + statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, b3InitCreateUserConstraintCommand(m_data->m_physicsClient, parentBodyIndex, parentJointIndex, childBodyIndex, childJointIndex, jointInfo)); } } From b4b93573fc8bdd6b83adf51eed28b27c027da474 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 14 Nov 2016 17:02:29 -0800 Subject: [PATCH 044/102] tweak quadruped.py script a little bit --- examples/pybullet/quadruped.py | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/examples/pybullet/quadruped.py b/examples/pybullet/quadruped.py index a1062f3eb..a78d7ed40 100644 --- a/examples/pybullet/quadruped.py +++ b/examples/pybullet/quadruped.py @@ -1,4 +1,6 @@ import pybullet as p +import time + p.connect(p.GUI) p.loadURDF("plane.urdf") p.loadURDF("quadruped/quadruped.urdf",0,0,0.2) @@ -32,4 +34,9 @@ p.resetJointState(1,21,-1.57) p.resetJointState(1,23,2.2) p.createConstraint(1,20,1,23,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2]) - \ No newline at end of file +p.setGravity(0,0,-10) +t_end = time.time() + 120 +i=0 +while time.time() < t_end: + i = p.getNumJoints(0) + p.stepSimulation() From 2329c00faa06a41198502a8227d2f7879bd4d7d3 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 16 Nov 2016 16:12:59 -0800 Subject: [PATCH 045/102] Add RtMidi for midi control, use the --midi option in premake, and see update to OpenVR sdk 1.03 from https://github.com/ValveSoftware/openvr add camPosX/Y/Z and camRotZ to adjust relative camera/world transform for VR (so you can align virtual table with real table etc) tweak quadruped.py to move a bit add mouse picking to physics server --- build3/premake4.lua | 7 +- build_visual_studio_vr_pybullet_double.bat | 2 +- data/plane.obj | 14 +- data/plane.urdf | 4 +- .../PhysicsClientSharedMemory.cpp | 30 + .../PhysicsServerCommandProcessor.cpp | 30 +- .../SharedMemory/PhysicsServerExample.cpp | 392 +- .../SharedMemory/PhysicsServerSharedMemory.h | 2 +- examples/SharedMemory/premake4.lua | 61 + .../StandaloneMain/hellovr_opengl_main.cpp | 18 +- .../main_opengl_single_example.cpp | 3 + examples/ThirdPartyLibs/midi/LICENSE.txt | 29 + examples/ThirdPartyLibs/midi/RtError.h | 60 + examples/ThirdPartyLibs/midi/RtMidi.cpp | 3803 +++++++++++++++++ examples/ThirdPartyLibs/midi/RtMidi.h | 675 +++ examples/ThirdPartyLibs/midi/cmidiin.cpp | 112 + examples/ThirdPartyLibs/midi/premake4.lua | 35 + .../openvr/bin/linux32/libopenvr_api.so | Bin 347110 -> 0 bytes .../openvr/bin/linux64/libopenvr_api.so | Bin 383669 -> 389560 bytes .../openvr/bin/osx32/libopenvr_api.dylib | Bin 299972 -> 304956 bytes .../openvr/bin/win32/openvr_api.dll | Bin 265024 -> 267040 bytes .../openvr/bin/win64/openvr_api.dll | Bin 311616 -> 314656 bytes .../ThirdPartyLibs/openvr/headers/openvr.h | 284 +- .../openvr/headers/openvr_api.cs | 421 +- .../openvr/headers/openvr_api.json | 409 +- .../openvr/headers/openvr_capi.h | 152 +- .../openvr/headers/openvr_driver.h | 210 +- .../openvr/lib/linux32/libopenvr_api.so | Bin 2315918 -> 0 bytes .../openvr/lib/linux64/libopenvr_api.so | Bin 3129824 -> 3144159 bytes .../openvr/lib/win32/openvr_api.lib | Bin 4864 -> 5750 bytes .../openvr/lib/win64/openvr_api.lib | Bin 4806 -> 5668 bytes examples/pybullet/quadruped.py | 79 +- 32 files changed, 6434 insertions(+), 398 deletions(-) create mode 100644 examples/ThirdPartyLibs/midi/LICENSE.txt create mode 100644 examples/ThirdPartyLibs/midi/RtError.h create mode 100644 examples/ThirdPartyLibs/midi/RtMidi.cpp create mode 100644 examples/ThirdPartyLibs/midi/RtMidi.h create mode 100644 examples/ThirdPartyLibs/midi/cmidiin.cpp create mode 100644 examples/ThirdPartyLibs/midi/premake4.lua delete mode 100644 examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so delete mode 100644 examples/ThirdPartyLibs/openvr/lib/linux32/libopenvr_api.so diff --git a/build3/premake4.lua b/build3/premake4.lua index 06e85d591..525996461 100644 --- a/build3/premake4.lua +++ b/build3/premake4.lua @@ -57,7 +57,7 @@ description = "Use Midi controller to control parameters" } --- --_OPTIONS["midi"] = "1"; +-- _OPTIONS["midi"] = "1"; newoption { @@ -237,6 +237,7 @@ end language "C++" + if not _OPTIONS["no-demos"] then include "../examples/ExampleBrowser" include "../examples/OpenGLWindow" @@ -265,6 +266,10 @@ end end end + if _OPTIONS["midi"] then + include "../examples/ThirdPartyLibs/midi" + end + if not _OPTIONS["no-enet"] then include "../examples/ThirdPartyLibs/enet" include "../test/enet/nat_punchthrough/client" diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat index 6ca0652b9..f4c43cbb5 100644 --- a/build_visual_studio_vr_pybullet_double.bat +++ b/build_visual_studio_vr_pybullet_double.bat @@ -16,6 +16,6 @@ del tmp1234.txt cd build3 -premake4 --double --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 +premake4 --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 start vs2010 diff --git a/data/plane.obj b/data/plane.obj index 0b77a9912..606209531 100644 --- a/data/plane.obj +++ b/data/plane.obj @@ -2,14 +2,14 @@ # www.blender.org mtllib plane.mtl o Plane -v 5.000000 -5.000000 0.000000 -v 5.000000 5.000000 0.000000 -v -5.000000 5.000000 0.000000 -v -5.000000 -5.000000 0.000000 +v 15.000000 -15.000000 0.000000 +v 15.000000 15.000000 0.000000 +v -15.000000 15.000000 0.000000 +v -15.000000 -15.000000 0.000000 -vt 5.000000 0.000000 -vt 5.000000 5.000000 -vt 0.000000 5.000000 +vt 15.000000 0.000000 +vt 15.000000 15.000000 +vt 0.000000 15.000000 vt 0.000000 0.000000 usemtl Material diff --git a/data/plane.urdf b/data/plane.urdf index b2c2d7659..900080e08 100644 --- a/data/plane.urdf +++ b/data/plane.urdf @@ -16,9 +16,9 @@ - + - + diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp index 9a323933a..e02d11e2d 100644 --- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp @@ -100,6 +100,10 @@ bool PhysicsClientSharedMemory::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info.m_baseName = bodyJoints->m_baseName.c_str(); return true; } + + + + return false; } @@ -204,6 +208,32 @@ bool PhysicsClientSharedMemory::connect() { b3Error("Cannot connect to shared memory"); return false; } +#if 0 + if (m_data->m_isConnected) + { + //get all existing bodies and body info... + + SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0]; + //now transfer the information of the individual objects etc. + command.m_type = CMD_REQUEST_BODY_INFO; + command.m_sdfRequestInfoArgs.m_bodyUniqueId = 37; + submitClientCommand(command); + int timeout = 1024 * 1024 * 1024; + + const SharedMemoryStatus* status = 0; + + while ((status == 0) && (timeout-- > 0)) + { + status = processServerStatus(); + + } + + + //submitClientCommand(command); + + + } +#endif return true; } diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 0a2cc253e..9791ab288 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -43,8 +43,12 @@ bool gCloseToKuka=false; bool gEnableRealTimeSimVR=false; bool gCreateDefaultRobotAssets = false; int gInternalSimFlags = 0; +int gHuskyId = -1; +btTransform huskyTr = btTransform::getIdentity(); int gCreateObjectSimVR = -1; +int gEnableKukaControl = 0; + btScalar simTimeScalingFactor = 1; btScalar gRhsClamp = 1.f; @@ -538,7 +542,7 @@ struct PhysicsServerCommandProcessorInternalData m_kukaGripperMultiBody(0), m_kukaGripperRevolute1(0), m_kukaGripperRevolute2(0), - m_allowRealTimeSimulation(false), + m_allowRealTimeSimulation(true), m_huskyId(-1), m_KukaId(-1), m_sphereId(-1), @@ -704,7 +708,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() #endif //Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it - m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192); + m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(32768); m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer(); @@ -3674,6 +3678,7 @@ void PhysicsServerCommandProcessor::physicsDebugDraw(int debugDrawFlags) bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld) { + if (m_data->m_dynamicsWorld==0) return false; @@ -3707,7 +3712,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons } else { btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject); - if (multiCol && multiCol->m_multiBody) + if (multiCol && multiCol->m_multiBody && multiCol->m_multiBody->getBaseMass()>0.) { m_data->m_prevCanSleep = multiCol->m_multiBody->getCanSleep(); @@ -3859,6 +3864,16 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) gSubStep = m_data->m_physicsDeltaTime; } + if (gHuskyId >= 0) + { + InternalBodyHandle* bodyHandle = m_data->getHandle(gHuskyId); + if (bodyHandle && bodyHandle->m_multiBody) + { + huskyTr = bodyHandle->m_multiBody->getBaseWorldTransform(); + } + } + + int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec*simTimeScalingFactor,maxSteps, gSubStep); gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0; @@ -3918,7 +3933,8 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() m_data->m_hasGround = true; loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); - loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); +// loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); +// loadUrdf("quadruped/quadruped.urdf", btVector3(2, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); if (m_data->m_gripperRigidbodyFixed == 0) { @@ -4081,7 +4097,9 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() //loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); - //loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + gHuskyId = bodyId; + b3Printf("huskyId = %d", gHuskyId); m_data->m_huskyId = bodyId; m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10)); @@ -4184,7 +4202,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() q_new[5] = -SIMD_HALF_PI*0.66; q_new[6] = 0; - if (gCloseToKuka) + if (gCloseToKuka && gEnableKukaControl) { double dampIk[6] = {1.0, 1.0, 1.0, 1.0, 1.0, 0.0}; diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 4e3ccf253..c4aa9455a 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -4,7 +4,9 @@ #include "PhysicsServerExample.h" - +#ifdef B3_USE_MIDI +#include "RtMidi.h" +#endif//B3_USE_MIDI #include "PhysicsServerSharedMemory.h" #include "Bullet3Common/b3CommandLineArgs.h" @@ -24,7 +26,7 @@ //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet! extern btVector3 gLastPickPos; -btVector3 gVRTeleportPos(0,0,0); +btVector3 gVRTeleportPos1(0,0,0); btQuaternion gVRTeleportOrn(0, 0, 0,1); extern btVector3 gVRGripperPos; extern btQuaternion gVRGripperOrn; @@ -37,11 +39,60 @@ extern bool gEnableRealTimeSimVR; extern bool gCreateDefaultRobotAssets; extern int gInternalSimFlags; extern int gCreateObjectSimVR; -static int gGraspingController = -1; +extern int gEnableKukaControl; +int gGraspingController = -1; extern btScalar simTimeScalingFactor; extern bool gVRGripperClosed; +#if B3_USE_MIDI + +#include + +static float getParamf(float rangeMin, float rangeMax, int midiVal) +{ + float v = rangeMin + (rangeMax - rangeMin)* (float(midiVal / 127.)); + return v; +} +void midiCallback(double deltatime, std::vector< unsigned char > *message, void *userData) +{ + unsigned int nBytes = message->size(); + for (unsigned int i = 0; i 0) + std::cout << "stamp = " << deltatime << std::endl; + + if (nBytes > 2) + { + + if (message->at(0) == 176) + { + if (message->at(1) == 16) + { + float rotZ = getParamf(-3.1415, 3.1415, message->at(2)); + gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), rotZ); + b3Printf("gVRTeleportOrn rotZ = %f\n", rotZ); + } + + if (message->at(1) == 32) + { + gCreateDefaultRobotAssets = 1; + } + + for (int i = 0; i < 3; i++) + { + if (message->at(1) == i) + { + gVRTeleportPos1[i] = getParamf(-2, 2, message->at(2)); + b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPos1[i]); + + } + } + } + } +} + +#endif //B3_USE_MIDI bool gDebugRenderToggle = false; void MotionThreadFunc(void* userPtr,void* lsMemory); @@ -112,7 +163,19 @@ b3ThreadSupportInterface* createMotionThreadSupport(int numThreads) } #endif +enum MyMouseCommandType +{ + MyMouseMove = 1, + MyMouseButtonDown, + MyMouseButtonUp +}; +struct MyMouseCommand +{ + btVector3 m_rayFrom; + btVector3 m_rayTo; + int m_type; +}; struct MotionArgs { @@ -128,6 +191,8 @@ struct MotionArgs } } b3CriticalSection* m_cs; + + btAlignedObjectArray m_mouseCommands; PhysicsServerSharedMemory* m_physicsServerPtr; b3AlignedObjectArray m_positions; @@ -197,31 +262,31 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) btMatrix3x3 mat(args->m_vrControllerOrn[c]); btScalar pickDistance = 1000.; - btVector3 toX = from+mat.getColumn(0); - btVector3 toY = from+mat.getColumn(1); - btVector3 toZ = from+mat.getColumn(2)*pickDistance; + btVector3 to = from+mat.getColumn(0)*pickDistance; +// btVector3 toY = from+mat.getColumn(1)*pickDistance; +// btVector3 toZ = from+mat.getColumn(2)*pickDistance; if (args->m_isVrControllerTeleporting[c]) { args->m_isVrControllerTeleporting[c] = false; - args->m_physicsServerPtr->pickBody(from,-toZ); + args->m_physicsServerPtr->pickBody(from, to); args->m_physicsServerPtr->removePickingConstraint(); } - if (!gCloseToKuka) + if (!gEnableKukaControl) { if (args->m_isVrControllerPicking[c]) { args->m_isVrControllerPicking[c] = false; args->m_isVrControllerDragging[c] = true; - args->m_physicsServerPtr->pickBody(from,-toZ); + args->m_physicsServerPtr->pickBody(from, to); //printf("PICK!\n"); } } if (args->m_isVrControllerDragging[c]) { - args->m_physicsServerPtr->movePickedBody(from,-toZ); + args->m_physicsServerPtr->movePickedBody(from, to); // printf("."); } @@ -247,6 +312,37 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) } + args->m_cs->lock(); + for (int i = 0; i < args->m_mouseCommands.size(); i++) + { + switch (args->m_mouseCommands[i].m_type) + { + case MyMouseMove: + { + args->m_physicsServerPtr->movePickedBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo); + break; + }; + case MyMouseButtonDown: + { + args->m_physicsServerPtr->pickBody(args->m_mouseCommands[i].m_rayFrom, args->m_mouseCommands[i].m_rayTo); + break; + } + case MyMouseButtonUp: + { + args->m_physicsServerPtr->removePickingConstraint(); + break; + } + + default: + { + } + + } + } + args->m_mouseCommands.clear(); + args->m_cs->unlock(); + + args->m_physicsServerPtr->processClientCommands(); } while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion); @@ -305,6 +401,7 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface b3CriticalSection* m_cs; + public: @@ -331,6 +428,7 @@ public: int m_textureId; int m_instanceId; + MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper) :m_app(app) @@ -498,7 +596,7 @@ public: virtual CommonRenderInterface* getRenderInterface() { - return 0; + return m_childGuiHelper->getRenderInterface(); } virtual CommonGraphicsApp* getAppInterface() @@ -680,7 +778,9 @@ class PhysicsServerExample : public SharedMemoryCommon MotionArgs m_args[MAX_MOTION_NUM_THREADS]; MultiThreadedOpenGLGuiHelper* m_multiThreadedHelper; bool m_wantsShutdown; - +#ifdef B3_USE_MIDI + RtMidiIn* m_midi; +#endif bool m_isConnected; btClock m_clock; bool m_replay; @@ -740,8 +840,8 @@ public: if (m_replay) return false; - CommonRenderInterface* renderer = m_guiHelper->getRenderInterface(); - + CommonRenderInterface* renderer = m_multiThreadedHelper->m_childGuiHelper->getRenderInterface();// m_guiHelper->getRenderInterface(); + if (!renderer) { return false; @@ -750,7 +850,14 @@ public: btVector3 rayTo = getRayTo(int(x), int(y)); btVector3 rayFrom; renderer->getActiveCamera()->getCameraPosition(rayFrom); - m_physicsServer.movePickedBody(rayFrom,rayTo); + + MyMouseCommand cmd; + cmd.m_rayFrom = rayFrom; + cmd.m_rayTo = rayTo; + cmd.m_type = MyMouseMove; + m_args[0].m_cs->lock(); + m_args[0].m_mouseCommands.push_back(cmd); + m_args[0].m_cs->unlock(); return false; }; @@ -779,7 +886,13 @@ public: btVector3 rayFrom = camPos; btVector3 rayTo = getRayTo(int(x),int(y)); - m_physicsServer.pickBody(rayFrom, rayTo); + MyMouseCommand cmd; + cmd.m_rayFrom = rayFrom; + cmd.m_rayTo = rayTo; + cmd.m_type = MyMouseButtonDown; + m_args[0].m_cs->lock(); + m_args[0].m_mouseCommands.push_back(cmd); + m_args[0].m_cs->unlock(); } @@ -787,7 +900,14 @@ public: { if (button==0) { - m_physicsServer.removePickingConstraint(); + //m_physicsServer.removePickingConstraint(); + MyMouseCommand cmd; + cmd.m_rayFrom.setValue(0,0,0); + cmd.m_rayTo.setValue(0, 0, 0); + cmd.m_type = MyMouseButtonUp; + m_args[0].m_cs->lock(); + m_args[0].m_mouseCommands.push_back(cmd); + m_args[0].m_cs->unlock(); //remove p2p } } @@ -805,6 +925,30 @@ public: virtual void processCommandLineArgs(int argc, char* argv[]) { b3CommandLineArgs args(argc,argv); + + if (args.GetCmdLineArgument("camPosX", gVRTeleportPos1[0])) + { + printf("camPosX=%f\n", gVRTeleportPos1[0]); + } + + if (args.GetCmdLineArgument("camPosY", gVRTeleportPos1[1])) + { + printf("camPosY=%f\n", gVRTeleportPos1[1]); + } + + if (args.GetCmdLineArgument("camPosZ", gVRTeleportPos1[2])) + { + printf("camPosZ=%f\n", gVRTeleportPos1[2]); + } + + float camRotZ = 0.f; + if (args.GetCmdLineArgument("camRotZ", camRotZ)) + { + printf("camRotZ = %f\n", camRotZ); + btQuaternion ornZ(btVector3(0, 0, 1), camRotZ); + gVRTeleportOrn = ornZ; + } + if (args.CheckCmdLineFlag("robotassets")) { gCreateDefaultRobotAssets = true; @@ -820,6 +964,40 @@ public: }; +#ifdef B3_USE_MIDI +static bool chooseMidiPort(RtMidiIn *rtmidi) +{ + /* + + std::cout << "\nWould you like to open a virtual input port? [y/N] "; + + std::string keyHit; + std::getline( std::cin, keyHit ); + if ( keyHit == "y" ) { + rtmidi->openVirtualPort(); + return true; + } + */ + + std::string portName; + unsigned int i = 0, nPorts = rtmidi->getPortCount(); + if (nPorts == 0) { + std::cout << "No midi input ports available!" << std::endl; + return false; + } + + if (nPorts > 0) { + std::cout << "\nOpening midi input port " << rtmidi->getPortName() << std::endl; + } + + // std::getline( std::cin, keyHit ); // used to clear out stdin + rtmidi->openPort(i); + + return true; +} +#endif //B3_USE_MIDI + + PhysicsServerExample::PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem, int options) :SharedMemoryCommon(helper), m_physicsServer(sharedMem), @@ -831,6 +1009,14 @@ m_options(options) ,m_tinyVrGui(0) #endif { +#ifdef B3_USE_MIDI + m_midi = new RtMidiIn(); + chooseMidiPort(m_midi); + m_midi->setCallback(&midiCallback); + // Don't ignore sysex, timing, or active sensing messages. + m_midi->ignoreTypes(false, false, false); + +#endif m_multiThreadedHelper = helper; b3Printf("Started PhysicsServer\n"); } @@ -839,6 +1025,10 @@ m_options(options) PhysicsServerExample::~PhysicsServerExample() { +#ifdef B3_USE_MIDI + delete m_midi; + m_midi = 0; +#endif #ifdef BT_ENABLE_VR delete m_tinyVrGui; #endif @@ -1159,10 +1349,25 @@ extern int gDroppedSimulationSteps; extern int gNumSteps; extern double gDtInSec; extern double gSubStep; +extern int gHuskyId; +extern btTransform huskyTr; + + void PhysicsServerExample::renderScene() { + +#if 0 + ///little VR test to follow/drive Husky vehicle + if (gHuskyId >= 0) + { + gVRTeleportPos1 = huskyTr.getOrigin(); + gVRTeleportOrn = huskyTr.getRotation(); + } +#endif + + B3_PROFILE("PhysicsServerExample::RenderScene"); static char line0[1024]; static char line1[1024]; @@ -1275,9 +1480,27 @@ void PhysicsServerExample::renderScene() //m_args[0].m_cs->lock(); //gVRTeleportPos[0] += 0.01; - vrOffset[12]=-gVRTeleportPos[0]; - vrOffset[13]=-gVRTeleportPos[1]; - vrOffset[14]=-gVRTeleportPos[2]; + btTransform tr2a, tr2; + tr2a.setIdentity(); + tr2.setIdentity(); + tr2.setOrigin(gVRTeleportPos1); + tr2a.setRotation(gVRTeleportOrn); + btTransform trTotal = tr2*tr2a; + btTransform trInv = trTotal.inverse(); + + btMatrix3x3 vrOffsetRot; + vrOffsetRot.setRotation(trInv.getRotation()); + for (int i = 0; i < 3; i++) + { + for (int j = 0; j < 3; j++) + { + vrOffset[i + 4 * j] = vrOffsetRot[i][j]; + } + } + + vrOffset[12]= trInv.getOrigin()[0]; + vrOffset[13]= trInv.getOrigin()[1]; + vrOffset[14]= trInv.getOrigin()[2]; this->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()-> getActiveCamera()->setVRCameraOffsetTransform(vrOffset); @@ -1314,54 +1537,8 @@ void PhysicsServerExample::renderScene() gEnableRealTimeSimVR = true; } - if (gDebugRenderToggle) - if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera()) - { - - B3_PROFILE("Draw Debug HUD"); - //some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift) - float pos[4]; - m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos); - pos[0]+=gVRTeleportPos[0]; - pos[1]+=gVRTeleportPos[1]; - pos[2]+=gVRTeleportPos[2]; - - btTransform viewTr; - btScalar m[16]; - float mf[16]; - m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraViewMatrix(mf); - for (int i=0;i<16;i++) - { - m[i] = mf[i]; - } - m[12]=+gVRTeleportPos[0]; - m[13]=+gVRTeleportPos[1]; - m[14]=+gVRTeleportPos[2]; - viewTr.setFromOpenGLMatrix(m); - btTransform viewTrInv = viewTr.inverse(); - - btVector3 side = viewTrInv.getBasis().getColumn(0); - btVector3 up = viewTrInv.getBasis().getColumn(1); - btVector3 fwd = viewTrInv.getBasis().getColumn(2); - - - float upMag = 0; - float sideMag = 2.2; - float fwdMag = -4; - - m_guiHelper->getAppInterface()->drawText3D(line0,pos[0]+upMag*up[0]-sideMag*side[0]+fwdMag*fwd[0],pos[1]+upMag*up[1]-sideMag*side[1]+fwdMag*fwd[1],pos[2]+upMag*up[2]-sideMag*side[2]+fwdMag*fwd[2],1); - //btVector3 fwd = viewTrInv.getBasis().getColumn(2); - - up = viewTrInv.getBasis().getColumn(1); - upMag = -0.3; - - - - m_guiHelper->getAppInterface()->drawText3D(line1,pos[0]+upMag*up[0]-sideMag*side[0]+fwdMag*fwd[0],pos[1]+upMag*up[1]-sideMag*side[1]+fwdMag*fwd[1],pos[2]+upMag*up[2]-sideMag*side[2]+fwdMag*fwd[2],1); - } - //m_args[0].m_cs->unlock(); } @@ -1482,7 +1659,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt { if (button == 1 && state == 0) { - gVRTeleportPos = gLastPickPos; +// gVRTeleportPos = gLastPickPos; } } else { @@ -1515,9 +1692,19 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt } } + + if (button==32 && state==0) { - gCreateObjectSimVR = 1; + + if (controllerId == gGraspingController) + { + gCreateObjectSimVR = 1; + } + else + { + gEnableKukaControl = !gEnableKukaControl; + } } @@ -1538,16 +1725,41 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt m_args[0].m_isVrControllerPicking[controllerId] = (state != 0); m_args[0].m_isVrControllerReleasing[controllerId] = (state == 0); } + + btTransform trLocal; + trLocal.setIdentity(); + trLocal.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI)); + + btTransform trOrg; + trOrg.setIdentity(); + trOrg.setOrigin(btVector3(pos[0], pos[1], pos[2])); + trOrg.setRotation(btQuaternion(orn[0], orn[1], orn[2], orn[3])); + + btTransform tr2a; + tr2a.setIdentity(); + btTransform tr2; + tr2.setIdentity(); + + + + tr2.setOrigin(gVRTeleportPos1); + tr2a.setRotation(gVRTeleportOrn); + + + btTransform trTotal = tr2*tr2a*trOrg*trLocal; + if ((button == 33) || (button == 1)) { - m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]); - m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]); +// m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]); + // m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]); + m_args[0].m_vrControllerPos[controllerId] = trTotal.getOrigin(); + m_args[0].m_vrControllerOrn[controllerId] = trTotal.getRotation(); } + } } - void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis) { @@ -1558,22 +1770,44 @@ void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[ printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS); return; } + + btTransform trLocal; + trLocal.setIdentity(); + trLocal.setRotation(btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI)); + + btTransform trOrg; + trOrg.setIdentity(); + trOrg.setOrigin(btVector3(pos[0], pos[1], pos[2])); + trOrg.setRotation(btQuaternion(orn[0], orn[1], orn[2], orn[3])); + + btTransform tr2a; + tr2a.setIdentity(); + btTransform tr2; + tr2.setIdentity(); + + + + tr2.setOrigin(gVRTeleportPos1); + tr2a.setRotation(gVRTeleportOrn); + + + btTransform trTotal = tr2*tr2a*trOrg*trLocal; + if (controllerId == gGraspingController) { gVRGripperAnalog = analogAxis; - gVRGripperPos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]); - btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]); - gVRGripperOrn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI); + + gVRGripperPos = trTotal.getOrigin(); + gVRGripperOrn = trTotal.getRotation(); } else { gVRGripper2Analog = analogAxis; - gVRController2Pos.setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]); - btQuaternion orgOrn(orn[0], orn[1], orn[2], orn[3]); - gVRController2Orn = orgOrn*btQuaternion(btVector3(0, 0, 1), SIMD_HALF_PI)*btQuaternion(btVector3(0, 1, 0), SIMD_HALF_PI); + gVRController2Pos = trTotal.getOrigin(); + gVRController2Orn = trTotal.getRotation(); - m_args[0].m_vrControllerPos[controllerId].setValue(pos[0] + gVRTeleportPos[0], pos[1] + gVRTeleportPos[1], pos[2] + gVRTeleportPos[2]); - m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0], orn[1], orn[2], orn[3]); + m_args[0].m_vrControllerPos[controllerId] = trTotal.getOrigin(); + m_args[0].m_vrControllerOrn[controllerId] = trTotal.getRotation(); } } diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h index f96e7ca4b..c330817b4 100644 --- a/examples/SharedMemory/PhysicsServerSharedMemory.h +++ b/examples/SharedMemory/PhysicsServerSharedMemory.h @@ -30,7 +30,7 @@ public: //bool supportsJointMotor(class btMultiBody* body, int linkIndex); - //@todo(erwincoumans) Should we have shared memory commands for picking objects? + ///The pickBody method will try to pick the first body along a ray, return true if succeeds, false otherwise virtual bool pickBody(const btVector3& rayFromWorld, const btVector3& rayToWorld); virtual bool movePickedBody(const btVector3& rayFromWorld, const btVector3& rayToWorld); diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua index 2bbf3b569..a17afb1f8 100644 --- a/examples/SharedMemory/premake4.lua +++ b/examples/SharedMemory/premake4.lua @@ -154,6 +154,37 @@ links { language "C++" + if _OPTIONS["midi"] then + + defines {"B3_USE_MIDI"} + + + + includedirs{"../ThirdPartyLibs/midi"} + + files { + "../ThirdPartyLibs/midi/RtMidi.cpp", + "../ThirdPartyLibs/midi/RtMidi.h", + "../ThirdPartyLibs/midi/RtError.h", + } + if os.is("Windows") then + links {"winmm"} + defines {"__WINDOWS_MM__", "WIN32"} + end + + if os.is("Linux") then + defines {"__LINUX_ALSA__"} + links {"asound","pthread"} + end + + if os.is("MacOSX") then + links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"} + defines {"__MACOSX_CORE__"} + end + + end + + files { myfiles, "../StandaloneMain/main_opengl_single_example.cpp", @@ -213,7 +244,37 @@ if os.is("Windows") then else kind "ConsoleApp" end + + if _OPTIONS["midi"] then + defines {"B3_USE_MIDI"} + + + + includedirs{"../ThirdPartyLibs/midi"} + + files { + "../ThirdPartyLibs/midi/RtMidi.cpp", + "../ThirdPartyLibs/midi/RtMidi.h", + "../ThirdPartyLibs/midi/RtError.h", + } + if os.is("Windows") then + links {"winmm"} + defines {"__WINDOWS_MM__", "WIN32"} + end + + if os.is("Linux") then + defines {"__LINUX_ALSA__"} + links {"asound","pthread"} + end + + if os.is("MacOSX") then + links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"} + defines {"__MACOSX_CORE__"} + end + + end + includedirs { ".","../../src", "../ThirdPartyLibs", "../ThirdPartyLibs/openvr/headers", diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp index 52b1574f3..d196c8ee8 100644 --- a/examples/StandaloneMain/hellovr_opengl_main.cpp +++ b/examples/StandaloneMain/hellovr_opengl_main.cpp @@ -1,11 +1,14 @@ #ifdef BT_ENABLE_VR -//#define BT_USE_CUSTOM_PROFILER +#ifdef BT_USE_CUSTOM_PROFILER +#endif + //========= Copyright Valve Corporation ============// #include "../OpenGLWindow/SimpleOpenGL3App.h" #include "../OpenGLWindow/OpenGLInclude.h" #include "Bullet3Common/b3Quaternion.h" #include "Bullet3Common/b3Transform.h" +#include "Bullet3Common/b3CommandLineArgs.h" #include "../ExampleBrowser/OpenGLGuiHelper.h" @@ -776,12 +779,14 @@ void CMainApplication::RunMainLoop() while ( !bQuit && !m_app->m_window->requestedExit()) { + { B3_PROFILE("main"); bQuit = HandleInput(); RenderFrame(); } + } } @@ -1282,6 +1287,8 @@ void CMainApplication::AddCubeToScene( Matrix4 mat, std::vector &vertdata //----------------------------------------------------------------------------- // Purpose: Draw all of the controllers as X/Y/Z lines //----------------------------------------------------------------------------- +extern int gGraspingController; + void CMainApplication::DrawControllers() { // don't draw controllers if somebody else has input focus @@ -1295,6 +1302,8 @@ void CMainApplication::DrawControllers() for ( vr::TrackedDeviceIndex_t unTrackedDevice = vr::k_unTrackedDeviceIndex_Hmd + 1; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; ++unTrackedDevice ) { + + if ( !m_pHMD->IsTrackedDeviceConnected( unTrackedDevice ) ) continue; @@ -2183,9 +2192,11 @@ void CGLRenderModel::Draw() //----------------------------------------------------------------------------- int main(int argc, char *argv[]) { + + #ifdef BT_USE_CUSTOM_PROFILER - //b3SetCustomEnterProfileZoneFunc(...); - //b3SetCustomLeaveProfileZoneFunc(...); + b3SetCustomEnterProfileZoneFunc(dcEnter); + b3SetCustomLeaveProfileZoneFunc(dcLeave); #endif @@ -2223,7 +2234,6 @@ int main(int argc, char *argv[]) pMainApplication->Shutdown(); #ifdef BT_USE_CUSTOM_PROFILER -//... #endif return 0; diff --git a/examples/StandaloneMain/main_opengl_single_example.cpp b/examples/StandaloneMain/main_opengl_single_example.cpp index 8bf97619d..a040882c6 100644 --- a/examples/StandaloneMain/main_opengl_single_example.cpp +++ b/examples/StandaloneMain/main_opengl_single_example.cpp @@ -83,8 +83,11 @@ int main(int argc, char* argv[]) //DummyGUIHelper gui; CommonExampleOptions options(&gui); + example = StandaloneExampleCreateFunc(options); + example->processCommandLineArgs(argc, argv); + example->initPhysics(); example->resetCamera(); diff --git a/examples/ThirdPartyLibs/midi/LICENSE.txt b/examples/ThirdPartyLibs/midi/LICENSE.txt new file mode 100644 index 000000000..5b85f871c --- /dev/null +++ b/examples/ThirdPartyLibs/midi/LICENSE.txt @@ -0,0 +1,29 @@ + RtMidi WWW site: http://music.mcgill.ca/~gary/rtmidi/ + + RtMidi: realtime MIDI i/o C++ classes + Copyright (c) 2003-2012 Gary P. Scavone + + Permission is hereby granted, free of charge, to any person + obtaining a copy of this software and associated documentation files + (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, + publish, distribute, sublicense, and/or sell copies of the Software, + and to permit persons to whom the Software is furnished to do so, + subject to the following conditions: + + The above copyright notice and this permission notice shall be + included in all copies or substantial portions of the Software. + + Any person wishing to distribute modifications to the Software is + asked to send the modifications to the original developer so that + they can be incorporated into the canonical version. This is, + however, not a binding provision of this license. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR + ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF + CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ \ No newline at end of file diff --git a/examples/ThirdPartyLibs/midi/RtError.h b/examples/ThirdPartyLibs/midi/RtError.h new file mode 100644 index 000000000..5cf7d510a --- /dev/null +++ b/examples/ThirdPartyLibs/midi/RtError.h @@ -0,0 +1,60 @@ +/************************************************************************/ +/*! \class RtError +\brief Exception handling class for RtAudio & RtMidi. + +The RtError class is quite simple but it does allow errors to be +"caught" by RtError::Type. See the RtAudio and RtMidi +documentation to know which methods can throw an RtError. + +*/ +/************************************************************************/ + +#ifndef RTERROR_H +#define RTERROR_H + +#include +#include +#include + +class RtError : public std::exception +{ +public: + //! Defined RtError types. + enum Type { + WARNING, /*!< A non-critical error. */ + DEBUG_WARNING, /*!< A non-critical error which might be useful for debugging. */ + UNSPECIFIED, /*!< The default, unspecified error type. */ + NO_DEVICES_FOUND, /*!< No devices found on system. */ + INVALID_DEVICE, /*!< An invalid device ID was specified. */ + MEMORY_ERROR, /*!< An error occured during memory allocation. */ + INVALID_PARAMETER, /*!< An invalid parameter was specified to a function. */ + INVALID_USE, /*!< The function was called incorrectly. */ + DRIVER_ERROR, /*!< A system driver error occured. */ + SYSTEM_ERROR, /*!< A system error occured. */ + THREAD_ERROR /*!< A thread error occured. */ + }; + + //! The constructor. + RtError(const std::string& message, Type type = RtError::UNSPECIFIED) throw() : message_(message), type_(type) {} + + //! The destructor. + virtual ~RtError(void) throw() {} + + //! Prints thrown error message to stderr. + virtual void printMessage(void) const throw() { std::cerr << '\n' << message_ << "\n\n"; } + + //! Returns the thrown error message type. + virtual const Type& getType(void) const throw() { return type_; } + + //! Returns the thrown error message string. + virtual const std::string& getMessage(void) const throw() { return message_; } + + //! Returns the thrown error message as a c-style string. + virtual const char* what(void) const throw() { return message_.c_str(); } + +protected: + std::string message_; + Type type_; +}; + +#endif \ No newline at end of file diff --git a/examples/ThirdPartyLibs/midi/RtMidi.cpp b/examples/ThirdPartyLibs/midi/RtMidi.cpp new file mode 100644 index 000000000..9cbd260f0 --- /dev/null +++ b/examples/ThirdPartyLibs/midi/RtMidi.cpp @@ -0,0 +1,3803 @@ +/**********************************************************************/ +/*! \class RtMidi + \brief An abstract base class for realtime MIDI input/output. + + This class implements some common functionality for the realtime + MIDI input/output subclasses RtMidiIn and RtMidiOut. + + RtMidi WWW site: http://music.mcgill.ca/~gary/rtmidi/ + + RtMidi: realtime MIDI i/o C++ classes + Copyright (c) 2003-2012 Gary P. Scavone + + Permission is hereby granted, free of charge, to any person + obtaining a copy of this software and associated documentation files + (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, + publish, distribute, sublicense, and/or sell copies of the Software, + and to permit persons to whom the Software is furnished to do so, + subject to the following conditions: + + The above copyright notice and this permission notice shall be + included in all copies or substantial portions of the Software. + + Any person wishing to distribute modifications to the Software is + asked to send the modifications to the original developer so that + they can be incorporated into the canonical version. This is, + however, not a binding provision of this license. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR + ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF + CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ +/**********************************************************************/ + +// RtMidi: Version 2.0.1 + +#include "RtMidi.h" +#include +#include //exit + +//*********************************************************************// +// RtMidi Definitions +//*********************************************************************// + +void RtMidi :: getCompiledApi( std::vector &apis ) +{ + apis.clear(); + + // The order here will control the order of RtMidi's API search in + // the constructor. +#if defined(__MACOSX_CORE__) + apis.push_back( MACOSX_CORE ); +#endif +#if defined(__LINUX_ALSA__) + apis.push_back( LINUX_ALSA ); +#endif +#if defined(__UNIX_JACK__) + apis.push_back( UNIX_JACK ); +#endif +#if defined(__WINDOWS_MM__) + apis.push_back( WINDOWS_MM ); +#endif +#if defined(__WINDOWS_KS__) + apis.push_back( WINDOWS_KS ); +#endif +#if defined(__RTMIDI_DUMMY__) + apis.push_back( RTMIDI_DUMMY ); +#endif + +} + +void RtMidi :: error( RtError::Type type, std::string errorString ) +{ + if (type == RtError::WARNING) { + std::cerr << '\n' << errorString << "\n\n"; + } + else if (type == RtError::DEBUG_WARNING) { +#if defined(__RTMIDI_DEBUG__) + std::cerr << '\n' << errorString << "\n\n"; +#endif + } + else { + std::cerr << '\n' << errorString << "\n\n"; +// exit(0); + } +} + +//*********************************************************************// +// RtMidiIn Definitions +//*********************************************************************// + +void RtMidiIn :: openMidiApi( RtMidi::Api api, const std::string clientName, unsigned int queueSizeLimit ) +{ + if ( rtapi_ ) + delete rtapi_; + rtapi_ = 0; + +#if defined(__UNIX_JACK__) + if ( api == UNIX_JACK ) + rtapi_ = new MidiInJack( clientName, queueSizeLimit ); +#endif +#if defined(__LINUX_ALSA__) + if ( api == LINUX_ALSA ) + rtapi_ = new MidiInAlsa( clientName, queueSizeLimit ); +#endif +#if defined(__WINDOWS_MM__) + if ( api == WINDOWS_MM ) + rtapi_ = new MidiInWinMM( clientName, queueSizeLimit ); +#endif +#if defined(__WINDOWS_KS__) + if ( api == WINDOWS_KS ) + rtapi_ = new MidiInWinKS( clientName, queueSizeLimit ); +#endif +#if defined(__MACOSX_CORE__) + if ( api == MACOSX_CORE ) + rtapi_ = new MidiInCore( clientName, queueSizeLimit ); +#endif +#if defined(__RTMIDI_DUMMY__) + if ( api == RTMIDI_DUMMY ) + rtapi_ = new MidiInDummy( clientName, queueSizeLimit ); +#endif +} + +RtMidiIn :: RtMidiIn( RtMidi::Api api, const std::string clientName, unsigned int queueSizeLimit ) +{ + rtapi_ = 0; + + if ( api != UNSPECIFIED ) { + // Attempt to open the specified API. + openMidiApi( api, clientName, queueSizeLimit ); + if ( rtapi_ ) return; + + // No compiled support for specified API value. Issue a debug + // warning and continue as if no API was specified. + RtMidi::error( RtError::WARNING, "RtMidiIn: no compiled support for specified API argument!" ); + } + + // Iterate through the compiled APIs and return as soon as we find + // one with at least one port or we reach the end of the list. + std::vector< RtMidi::Api > apis; + getCompiledApi( apis ); + for ( unsigned int i=0; igetPortCount() ) break; + } + + if ( rtapi_ ) return; + + // It should not be possible to get here because the preprocessor + // definition __RTMIDI_DUMMY__ is automatically defined if no + // API-specific definitions are passed to the compiler. But just in + // case something weird happens, we'll print out an error message. + RtMidi::error( RtError::WARNING, "RtMidiIn: no compiled API support found ... critical error!!" ); +} + +RtMidiIn :: ~RtMidiIn() +{ + delete rtapi_; +} + + +//*********************************************************************// +// RtMidiOut Definitions +//*********************************************************************// + +void RtMidiOut :: openMidiApi( RtMidi::Api api, const std::string clientName ) +{ + if ( rtapi_ ) + delete rtapi_; + rtapi_ = 0; + +#if defined(__UNIX_JACK__) + if ( api == UNIX_JACK ) + rtapi_ = new MidiOutJack( clientName ); +#endif +#if defined(__LINUX_ALSA__) + if ( api == LINUX_ALSA ) + rtapi_ = new MidiOutAlsa( clientName ); +#endif +#if defined(__WINDOWS_MM__) + if ( api == WINDOWS_MM ) + rtapi_ = new MidiOutWinMM( clientName ); +#endif +#if defined(__WINDOWS_KS__) + if ( api == WINDOWS_KS ) + rtapi_ = new MidiOutWinKS( clientName ); +#endif +#if defined(__MACOSX_CORE__) + if ( api == MACOSX_CORE ) + rtapi_ = new MidiOutCore( clientName ); +#endif +#if defined(__RTMIDI_DUMMY__) + if ( api == RTMIDI_DUMMY ) + rtapi_ = new MidiOutDummy( clientName ); +#endif +} + +RtMidiOut :: RtMidiOut( RtMidi::Api api, const std::string clientName ) +{ + rtapi_ = 0; + + if ( api != UNSPECIFIED ) { + // Attempt to open the specified API. + openMidiApi( api, clientName ); + if ( rtapi_ ) return; + + // No compiled support for specified API value. Issue a debug + // warning and continue as if no API was specified. + RtMidi::error( RtError::WARNING, "RtMidiOut: no compiled support for specified API argument!" ); + } + + // Iterate through the compiled APIs and return as soon as we find + // one with at least one port or we reach the end of the list. + std::vector< RtMidi::Api > apis; + getCompiledApi( apis ); + for ( unsigned int i=0; igetPortCount() ) break; + } + + if ( rtapi_ ) return; + + // It should not be possible to get here because the preprocessor + // definition __RTMIDI_DUMMY__ is automatically defined if no + // API-specific definitions are passed to the compiler. But just in + // case something weird happens, we'll print out an error message. + RtMidi::error( RtError::WARNING, "RtMidiOut: no compiled API support found ... critical error!!" ); +} + +RtMidiOut :: ~RtMidiOut() +{ + delete rtapi_; +} + +//*********************************************************************// +// Common MidiInApi Definitions +//*********************************************************************// + +MidiInApi :: MidiInApi( unsigned int queueSizeLimit ) + : apiData_( 0 ), connected_( false ) +{ + // Allocate the MIDI queue. + inputData_.queue.ringSize = queueSizeLimit; + if ( inputData_.queue.ringSize > 0 ) + inputData_.queue.ring = new MidiMessage[ inputData_.queue.ringSize ]; +} + +MidiInApi :: ~MidiInApi( void ) +{ + // Delete the MIDI queue. + if ( inputData_.queue.ringSize > 0 ) delete [] inputData_.queue.ring; +} + +void MidiInApi :: setCallback( RtMidiIn::RtMidiCallback callback, void *userData ) +{ + if ( inputData_.usingCallback ) { + errorString_ = "MidiInApi::setCallback: a callback function is already set!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + if ( !callback ) { + errorString_ = "RtMidiIn::setCallback: callback function value is invalid!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + inputData_.userCallback = (void *) callback; + inputData_.userData = userData; + inputData_.usingCallback = true; +} + +void MidiInApi :: cancelCallback() +{ + if ( !inputData_.usingCallback ) { + errorString_ = "RtMidiIn::cancelCallback: no callback function was set!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + inputData_.userCallback = 0; + inputData_.userData = 0; + inputData_.usingCallback = false; +} + +void MidiInApi :: ignoreTypes( bool midiSysex, bool midiTime, bool midiSense ) +{ + inputData_.ignoreFlags = 0; + if ( midiSysex ) inputData_.ignoreFlags = 0x01; + if ( midiTime ) inputData_.ignoreFlags |= 0x02; + if ( midiSense ) inputData_.ignoreFlags |= 0x04; +} + +double MidiInApi :: getMessage( std::vector *message ) +{ + message->clear(); + + if ( inputData_.usingCallback ) { + errorString_ = "RtMidiIn::getNextMessage: a user callback is currently set for this port."; + RtMidi::error( RtError::WARNING, errorString_ ); + return 0.0; + } + + if ( inputData_.queue.size == 0 ) return 0.0; + + // Copy queued message to the vector pointer argument and then "pop" it. + std::vector *bytes = &(inputData_.queue.ring[inputData_.queue.front].bytes); + message->assign( bytes->begin(), bytes->end() ); + double deltaTime = inputData_.queue.ring[inputData_.queue.front].timeStamp; + inputData_.queue.size--; + inputData_.queue.front++; + if ( inputData_.queue.front == inputData_.queue.ringSize ) + inputData_.queue.front = 0; + + return deltaTime; +} + +//*********************************************************************// +// Common MidiOutApi Definitions +//*********************************************************************// + +MidiOutApi :: MidiOutApi( void ) + : apiData_( 0 ), connected_( false ) +{ +} + +MidiOutApi :: ~MidiOutApi( void ) +{ +} + +// *************************************************** // +// +// OS/API-specific methods. +// +// *************************************************** // + +#if defined(__MACOSX_CORE__) + +// The CoreMIDI API is based on the use of a callback function for +// MIDI input. We convert the system specific time stamps to delta +// time values. + +// OS-X CoreMIDI header files. +#include +#include +#include + +// A structure to hold variables related to the CoreMIDI API +// implementation. +struct CoreMidiData { + MIDIClientRef client; + MIDIPortRef port; + MIDIEndpointRef endpoint; + MIDIEndpointRef destinationId; + unsigned long long lastTime; + MIDISysexSendRequest sysexreq; +}; + +//*********************************************************************// +// API: OS-X +// Class Definitions: MidiInCore +//*********************************************************************// + +void midiInputCallback( const MIDIPacketList *list, void *procRef, void *srcRef ) +{ + MidiInApi::RtMidiInData *data = static_cast (procRef); + CoreMidiData *apiData = static_cast (data->apiData); + + unsigned char status; + unsigned short nBytes, iByte, size; + unsigned long long time; + + bool& continueSysex = data->continueSysex; + MidiInApi::MidiMessage& message = data->message; + + const MIDIPacket *packet = &list->packet[0]; + for ( unsigned int i=0; inumPackets; ++i ) { + + // My interpretation of the CoreMIDI documentation: all message + // types, except sysex, are complete within a packet and there may + // be several of them in a single packet. Sysex messages can be + // broken across multiple packets and PacketLists but are bundled + // alone within each packet (these packets do not contain other + // message types). If sysex messages are split across multiple + // MIDIPacketLists, they must be handled by multiple calls to this + // function. + + nBytes = packet->length; + if ( nBytes == 0 ) continue; + + // Calculate time stamp. + + if ( data->firstMessage ) { + message.timeStamp = 0.0; + data->firstMessage = false; + } + else { + time = packet->timeStamp; + if ( time == 0 ) { // this happens when receiving asynchronous sysex messages + time = AudioGetCurrentHostTime(); + } + time -= apiData->lastTime; + time = AudioConvertHostTimeToNanos( time ); + if ( !continueSysex ) + message.timeStamp = time * 0.000000001; + } + apiData->lastTime = packet->timeStamp; + if ( apiData->lastTime == 0 ) { // this happens when receiving asynchronous sysex messages + apiData->lastTime = AudioGetCurrentHostTime(); + } + //std::cout << "TimeStamp = " << packet->timeStamp << std::endl; + + iByte = 0; + if ( continueSysex ) { + // We have a continuing, segmented sysex message. + if ( !( data->ignoreFlags & 0x01 ) ) { + // If we're not ignoring sysex messages, copy the entire packet. + for ( unsigned int j=0; jdata[j] ); + } + continueSysex = packet->data[nBytes-1] != 0xF7; + + if ( !continueSysex ) { + // If not a continuing sysex message, invoke the user callback function or queue the message. + if ( data->usingCallback ) { + RtMidiIn::RtMidiCallback callback = (RtMidiIn::RtMidiCallback) data->userCallback; + callback( message.timeStamp, &message.bytes, data->userData ); + } + else { + // As long as we haven't reached our queue size limit, push the message. + if ( data->queue.size < data->queue.ringSize ) { + data->queue.ring[data->queue.back++] = message; + if ( data->queue.back == data->queue.ringSize ) + data->queue.back = 0; + data->queue.size++; + } + else + std::cerr << "\nMidiInCore: message queue limit reached!!\n\n"; + } + message.bytes.clear(); + } + } + else { + while ( iByte < nBytes ) { + size = 0; + // We are expecting that the next byte in the packet is a status byte. + status = packet->data[iByte]; + if ( !(status & 0x80) ) break; + // Determine the number of bytes in the MIDI message. + if ( status < 0xC0 ) size = 3; + else if ( status < 0xE0 ) size = 2; + else if ( status < 0xF0 ) size = 3; + else if ( status == 0xF0 ) { + // A MIDI sysex + if ( data->ignoreFlags & 0x01 ) { + size = 0; + iByte = nBytes; + } + else size = nBytes - iByte; + continueSysex = packet->data[nBytes-1] != 0xF7; + } + else if ( status == 0xF1 ) { + // A MIDI time code message + if ( data->ignoreFlags & 0x02 ) { + size = 0; + iByte += 2; + } + else size = 2; + } + else if ( status == 0xF2 ) size = 3; + else if ( status == 0xF3 ) size = 2; + else if ( status == 0xF8 && ( data->ignoreFlags & 0x02 ) ) { + // A MIDI timing tick message and we're ignoring it. + size = 0; + iByte += 1; + } + else if ( status == 0xFE && ( data->ignoreFlags & 0x04 ) ) { + // A MIDI active sensing message and we're ignoring it. + size = 0; + iByte += 1; + } + else size = 1; + + // Copy the MIDI data to our vector. + if ( size ) { + message.bytes.assign( &packet->data[iByte], &packet->data[iByte+size] ); + if ( !continueSysex ) { + // If not a continuing sysex message, invoke the user callback function or queue the message. + if ( data->usingCallback ) { + RtMidiIn::RtMidiCallback callback = (RtMidiIn::RtMidiCallback) data->userCallback; + callback( message.timeStamp, &message.bytes, data->userData ); + } + else { + // As long as we haven't reached our queue size limit, push the message. + if ( data->queue.size < data->queue.ringSize ) { + data->queue.ring[data->queue.back++] = message; + if ( data->queue.back == data->queue.ringSize ) + data->queue.back = 0; + data->queue.size++; + } + else + std::cerr << "\nMidiInCore: message queue limit reached!!\n\n"; + } + message.bytes.clear(); + } + iByte += size; + } + } + } + packet = MIDIPacketNext(packet); + } +} + +MidiInCore :: MidiInCore( const std::string clientName, unsigned int queueSizeLimit ) : MidiInApi( queueSizeLimit ) +{ + initialize( clientName ); +} + +MidiInCore :: ~MidiInCore( void ) +{ + // Close a connection if it exists. + closePort(); + + // Cleanup. + CoreMidiData *data = static_cast (apiData_); + MIDIClientDispose( data->client ); + if ( data->endpoint ) MIDIEndpointDispose( data->endpoint ); + delete data; +} + +void MidiInCore :: initialize( const std::string& clientName ) +{ + // Set up our client. + MIDIClientRef client; + OSStatus result = MIDIClientCreate( CFStringCreateWithCString( NULL, clientName.c_str(), kCFStringEncodingASCII ), NULL, NULL, &client ); + if ( result != noErr ) { + errorString_ = "MidiInCore::initialize: error creating OS-X MIDI client object."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Save our api-specific connection information. + CoreMidiData *data = (CoreMidiData *) new CoreMidiData; + data->client = client; + data->endpoint = 0; + apiData_ = (void *) data; + inputData_.apiData = (void *) data; +} + +void MidiInCore :: openPort( unsigned int portNumber, const std::string portName ) +{ + if ( connected_ ) { + errorString_ = "MidiInCore::openPort: a valid connection already exists!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + unsigned int nSrc = MIDIGetNumberOfSources(); + if (nSrc < 1) { + errorString_ = "MidiInCore::openPort: no MIDI input sources found!"; + RtMidi::error( RtError::NO_DEVICES_FOUND, errorString_ ); + } + + std::ostringstream ost; + if ( portNumber >= nSrc ) { + ost << "MidiInCore::openPort: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + } + + MIDIPortRef port; + CoreMidiData *data = static_cast (apiData_); + OSStatus result = MIDIInputPortCreate( data->client, + CFStringCreateWithCString( NULL, portName.c_str(), kCFStringEncodingASCII ), + midiInputCallback, (void *)&inputData_, &port ); + if ( result != noErr ) { + MIDIClientDispose( data->client ); + errorString_ = "MidiInCore::openPort: error creating OS-X MIDI input port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Get the desired input source identifier. + MIDIEndpointRef endpoint = MIDIGetSource( portNumber ); + if ( endpoint == 0 ) { + MIDIPortDispose( port ); + MIDIClientDispose( data->client ); + errorString_ = "MidiInCore::openPort: error getting MIDI input source reference."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Make the connection. + result = MIDIPortConnectSource( port, endpoint, NULL ); + if ( result != noErr ) { + MIDIPortDispose( port ); + MIDIClientDispose( data->client ); + errorString_ = "MidiInCore::openPort: error connecting OS-X MIDI input port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Save our api-specific port information. + data->port = port; + + connected_ = true; +} + +void MidiInCore :: openVirtualPort( const std::string portName ) +{ + CoreMidiData *data = static_cast (apiData_); + + // Create a virtual MIDI input destination. + MIDIEndpointRef endpoint; + OSStatus result = MIDIDestinationCreate( data->client, + CFStringCreateWithCString( NULL, portName.c_str(), kCFStringEncodingASCII ), + midiInputCallback, (void *)&inputData_, &endpoint ); + if ( result != noErr ) { + errorString_ = "MidiInCore::openVirtualPort: error creating virtual OS-X MIDI destination."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Save our api-specific connection information. + data->endpoint = endpoint; +} + +void MidiInCore :: closePort( void ) +{ + if ( connected_ ) { + CoreMidiData *data = static_cast (apiData_); + MIDIPortDispose( data->port ); + connected_ = false; + } +} + +unsigned int MidiInCore :: getPortCount() +{ + return MIDIGetNumberOfSources(); +} + +// This function was submitted by Douglas Casey Tucker and apparently +// derived largely from PortMidi. +CFStringRef EndpointName( MIDIEndpointRef endpoint, bool isExternal ) +{ + CFMutableStringRef result = CFStringCreateMutable( NULL, 0 ); + CFStringRef str; + + // Begin with the endpoint's name. + str = NULL; + MIDIObjectGetStringProperty( endpoint, kMIDIPropertyName, &str ); + if ( str != NULL ) { + CFStringAppend( result, str ); + CFRelease( str ); + } + + MIDIEntityRef entity = NULL; + MIDIEndpointGetEntity( endpoint, &entity ); + if ( entity == 0 ) + // probably virtual + return result; + + if ( CFStringGetLength( result ) == 0 ) { + // endpoint name has zero length -- try the entity + str = NULL; + MIDIObjectGetStringProperty( entity, kMIDIPropertyName, &str ); + if ( str != NULL ) { + CFStringAppend( result, str ); + CFRelease( str ); + } + } + // now consider the device's name + MIDIDeviceRef device = 0; + MIDIEntityGetDevice( entity, &device ); + if ( device == 0 ) + return result; + + str = NULL; + MIDIObjectGetStringProperty( device, kMIDIPropertyName, &str ); + if ( CFStringGetLength( result ) == 0 ) { + CFRelease( result ); + return str; + } + if ( str != NULL ) { + // if an external device has only one entity, throw away + // the endpoint name and just use the device name + if ( isExternal && MIDIDeviceGetNumberOfEntities( device ) < 2 ) { + CFRelease( result ); + return str; + } else { + if ( CFStringGetLength( str ) == 0 ) { + CFRelease( str ); + return result; + } + // does the entity name already start with the device name? + // (some drivers do this though they shouldn't) + // if so, do not prepend + if ( CFStringCompareWithOptions( result, /* endpoint name */ + str /* device name */, + CFRangeMake(0, CFStringGetLength( str ) ), 0 ) != kCFCompareEqualTo ) { + // prepend the device name to the entity name + if ( CFStringGetLength( result ) > 0 ) + CFStringInsert( result, 0, CFSTR(" ") ); + CFStringInsert( result, 0, str ); + } + CFRelease( str ); + } + } + return result; +} + +// This function was submitted by Douglas Casey Tucker and apparently +// derived largely from PortMidi. +static CFStringRef ConnectedEndpointName( MIDIEndpointRef endpoint ) +{ + CFMutableStringRef result = CFStringCreateMutable( NULL, 0 ); + CFStringRef str; + OSStatus err; + int i; + + // Does the endpoint have connections? + CFDataRef connections = NULL; + int nConnected = 0; + bool anyStrings = false; + err = MIDIObjectGetDataProperty( endpoint, kMIDIPropertyConnectionUniqueID, &connections ); + if ( connections != NULL ) { + // It has connections, follow them + // Concatenate the names of all connected devices + nConnected = CFDataGetLength( connections ) / sizeof(MIDIUniqueID); + if ( nConnected ) { + const SInt32 *pid = (const SInt32 *)(CFDataGetBytePtr(connections)); + for ( i=0; i= MIDIGetNumberOfSources() ) { + ost << "MidiInCore::getPortName: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + //RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + return stringName; + } + + portRef = MIDIGetSource( portNumber ); + nameRef = ConnectedEndpointName(portRef); + CFStringGetCString( nameRef, name, sizeof(name), 0); + CFRelease( nameRef ); + + return stringName = name; +} + +//*********************************************************************// +// API: OS-X +// Class Definitions: MidiOutCore +//*********************************************************************// + +MidiOutCore :: MidiOutCore( const std::string clientName ) : MidiOutApi() +{ + initialize( clientName ); +} + +MidiOutCore :: ~MidiOutCore( void ) +{ + // Close a connection if it exists. + closePort(); + + // Cleanup. + CoreMidiData *data = static_cast (apiData_); + MIDIClientDispose( data->client ); + if ( data->endpoint ) MIDIEndpointDispose( data->endpoint ); + delete data; +} + +void MidiOutCore :: initialize( const std::string& clientName ) +{ + // Set up our client. + MIDIClientRef client; + OSStatus result = MIDIClientCreate( CFStringCreateWithCString( NULL, clientName.c_str(), kCFStringEncodingASCII ), NULL, NULL, &client ); + if ( result != noErr ) { + errorString_ = "MidiOutCore::initialize: error creating OS-X MIDI client object."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Save our api-specific connection information. + CoreMidiData *data = (CoreMidiData *) new CoreMidiData; + data->client = client; + data->endpoint = 0; + apiData_ = (void *) data; +} + +unsigned int MidiOutCore :: getPortCount() +{ + return MIDIGetNumberOfDestinations(); +} + +std::string MidiOutCore :: getPortName( unsigned int portNumber ) +{ + CFStringRef nameRef; + MIDIEndpointRef portRef; + std::ostringstream ost; + char name[128]; + + std::string stringName; + if ( portNumber >= MIDIGetNumberOfDestinations() ) { + ost << "MidiOutCore::getPortName: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + return stringName; + //RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + } + + portRef = MIDIGetDestination( portNumber ); + nameRef = ConnectedEndpointName(portRef); + CFStringGetCString( nameRef, name, sizeof(name), 0); + CFRelease( nameRef ); + + return stringName = name; +} + +void MidiOutCore :: openPort( unsigned int portNumber, const std::string portName ) +{ + if ( connected_ ) { + errorString_ = "MidiOutCore::openPort: a valid connection already exists!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + unsigned int nDest = MIDIGetNumberOfDestinations(); + if (nDest < 1) { + errorString_ = "MidiOutCore::openPort: no MIDI output destinations found!"; + RtMidi::error( RtError::NO_DEVICES_FOUND, errorString_ ); + } + + std::ostringstream ost; + if ( portNumber >= nDest ) { + ost << "MidiOutCore::openPort: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + } + + MIDIPortRef port; + CoreMidiData *data = static_cast (apiData_); + OSStatus result = MIDIOutputPortCreate( data->client, + CFStringCreateWithCString( NULL, portName.c_str(), kCFStringEncodingASCII ), + &port ); + if ( result != noErr ) { + MIDIClientDispose( data->client ); + errorString_ = "MidiOutCore::openPort: error creating OS-X MIDI output port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Get the desired output port identifier. + MIDIEndpointRef destination = MIDIGetDestination( portNumber ); + if ( destination == 0 ) { + MIDIPortDispose( port ); + MIDIClientDispose( data->client ); + errorString_ = "MidiOutCore::openPort: error getting MIDI output destination reference."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Save our api-specific connection information. + data->port = port; + data->destinationId = destination; + connected_ = true; +} + +void MidiOutCore :: closePort( void ) +{ + if ( connected_ ) { + CoreMidiData *data = static_cast (apiData_); + MIDIPortDispose( data->port ); + connected_ = false; + } +} + +void MidiOutCore :: openVirtualPort( std::string portName ) +{ + CoreMidiData *data = static_cast (apiData_); + + if ( data->endpoint ) { + errorString_ = "MidiOutCore::openVirtualPort: a virtual output port already exists!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + // Create a virtual MIDI output source. + MIDIEndpointRef endpoint; + OSStatus result = MIDISourceCreate( data->client, + CFStringCreateWithCString( NULL, portName.c_str(), kCFStringEncodingASCII ), + &endpoint ); + if ( result != noErr ) { + errorString_ = "MidiOutCore::initialize: error creating OS-X virtual MIDI source."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Save our api-specific connection information. + data->endpoint = endpoint; +} + +char *sysexBuffer = 0; + +void sysexCompletionProc( MIDISysexSendRequest * sreq ) +{ + //std::cout << "Completed SysEx send\n"; + delete sysexBuffer; + sysexBuffer = 0; +} + +void MidiOutCore :: sendMessage( std::vector *message ) +{ + // We use the MIDISendSysex() function to asynchronously send sysex + // messages. Otherwise, we use a single CoreMidi MIDIPacket. + unsigned int nBytes = message->size(); + if ( nBytes == 0 ) { + errorString_ = "MidiOutCore::sendMessage: no data in message argument!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + // unsigned int packetBytes, bytesLeft = nBytes; + // unsigned int messageIndex = 0; + MIDITimeStamp timeStamp = AudioGetCurrentHostTime(); + CoreMidiData *data = static_cast (apiData_); + OSStatus result; + + if ( message->at(0) == 0xF0 ) { + + while ( sysexBuffer != 0 ) usleep( 1000 ); // sleep 1 ms + + sysexBuffer = new char[nBytes]; + if ( sysexBuffer == NULL ) { + errorString_ = "MidiOutCore::sendMessage: error allocating sysex message memory!"; + RtMidi::error( RtError::MEMORY_ERROR, errorString_ ); + } + + // Copy data to buffer. + for ( unsigned int i=0; iat(i); + + data->sysexreq.destination = data->destinationId; + data->sysexreq.data = (Byte *)sysexBuffer; + data->sysexreq.bytesToSend = nBytes; + data->sysexreq.complete = 0; + data->sysexreq.completionProc = sysexCompletionProc; + data->sysexreq.completionRefCon = &(data->sysexreq); + + result = MIDISendSysex( &(data->sysexreq) ); + if ( result != noErr ) { + errorString_ = "MidiOutCore::sendMessage: error sending MIDI to virtual destinations."; + RtMidi::error( RtError::WARNING, errorString_ ); + } + return; + } + else if ( nBytes > 3 ) { + errorString_ = "MidiOutCore::sendMessage: message format problem ... not sysex but > 3 bytes?"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + MIDIPacketList packetList; + MIDIPacket *packet = MIDIPacketListInit( &packetList ); + packet = MIDIPacketListAdd( &packetList, sizeof(packetList), packet, timeStamp, nBytes, (const Byte *) &message->at( 0 ) ); + if ( !packet ) { + errorString_ = "MidiOutCore::sendMessage: could not allocate packet list"; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Send to any destinations that may have connected to us. + if ( data->endpoint ) { + result = MIDIReceived( data->endpoint, &packetList ); + if ( result != noErr ) { + errorString_ = "MidiOutCore::sendMessage: error sending MIDI to virtual destinations."; + RtMidi::error( RtError::WARNING, errorString_ ); + } + } + + // And send to an explicit destination port if we're connected. + if ( connected_ ) { + result = MIDISend( data->port, data->destinationId, &packetList ); + if ( result != noErr ) { + errorString_ = "MidiOutCore::sendMessage: error sending MIDI message to port."; + RtMidi::error( RtError::WARNING, errorString_ ); + } + } + +} + +#endif // __MACOSX_CORE__ + + +//*********************************************************************// +// API: LINUX ALSA SEQUENCER +//*********************************************************************// + +// API information found at: +// - http://www.alsa-project.org/documentation.php#Library + +#if defined(__LINUX_ALSA__) + +// The ALSA Sequencer API is based on the use of a callback function for +// MIDI input. +// +// Thanks to Pedro Lopez-Cabanillas for help with the ALSA sequencer +// time stamps and other assorted fixes!!! + +// If you don't need timestamping for incoming MIDI events, define the +// preprocessor definition AVOID_TIMESTAMPING to save resources +// associated with the ALSA sequencer queues. + +#include +#include + +// ALSA header file. +#include + +// Global sequencer instance created when first In/Out object is +// created, then destroyed when last In/Out is deleted. +static snd_seq_t *s_seq = NULL; + +// Variable to keep track of how many ports are open. +static unsigned int s_numPorts = 0; + +// The client name to use when creating the sequencer, which is +// currently set on the first call to createSequencer. +static std::string s_clientName = "RtMidi Client"; + +// A structure to hold variables related to the ALSA API +// implementation. +struct AlsaMidiData { + snd_seq_t *seq; + unsigned int portNum; + int vport; + snd_seq_port_subscribe_t *subscription; + snd_midi_event_t *coder; + unsigned int bufferSize; + unsigned char *buffer; + pthread_t thread; + pthread_t dummy_thread_id; + unsigned long long lastTime; + int queue_id; // an input queue is needed to get timestamped events + int trigger_fds[2]; +}; + +#define PORT_TYPE( pinfo, bits ) ((snd_seq_port_info_get_capability(pinfo) & (bits)) == (bits)) + +snd_seq_t* createSequencer( const std::string& clientName ) +{ + // Set up the ALSA sequencer client. + if ( s_seq == NULL ) { + int result = snd_seq_open(&s_seq, "default", SND_SEQ_OPEN_DUPLEX, SND_SEQ_NONBLOCK); + if ( result < 0 ) { + s_seq = NULL; + } + else { + // Set client name, use current name if given string is empty. + if ( clientName != "" ) { + s_clientName = clientName; + } + snd_seq_set_client_name( s_seq, s_clientName.c_str() ); + } + } + + // Increment port count. + s_numPorts++; + + return s_seq; +} + +void freeSequencer ( void ) +{ + s_numPorts--; + if ( s_numPorts == 0 && s_seq != NULL ) { + snd_seq_close( s_seq ); + s_seq = NULL; + } +} + +//*********************************************************************// +// API: LINUX ALSA +// Class Definitions: MidiInAlsa +//*********************************************************************// + +extern "C" void *alsaMidiHandler( void *ptr ) +{ + MidiInApi::RtMidiInData *data = static_cast (ptr); + AlsaMidiData *apiData = static_cast (data->apiData); + + long nBytes; + unsigned long long time, lastTime; + bool continueSysex = false; + bool doDecode = false; + MidiInApi::MidiMessage message; + int poll_fd_count; + struct pollfd *poll_fds; + + snd_seq_event_t *ev; + int result; + apiData->bufferSize = 32; + result = snd_midi_event_new( 0, &apiData->coder ); + if ( result < 0 ) { + data->doInput = false; + std::cerr << "\nMidiInAlsa::alsaMidiHandler: error initializing MIDI event parser!\n\n"; + return 0; + } + unsigned char *buffer = (unsigned char *) malloc( apiData->bufferSize ); + if ( buffer == NULL ) { + data->doInput = false; + snd_midi_event_free( apiData->coder ); + apiData->coder = 0; + std::cerr << "\nMidiInAlsa::alsaMidiHandler: error initializing buffer memory!\n\n"; + return 0; + } + snd_midi_event_init( apiData->coder ); + snd_midi_event_no_status( apiData->coder, 1 ); // suppress running status messages + + poll_fd_count = snd_seq_poll_descriptors_count( apiData->seq, POLLIN ) + 1; + poll_fds = (struct pollfd*)alloca( poll_fd_count * sizeof( struct pollfd )); + snd_seq_poll_descriptors( apiData->seq, poll_fds + 1, poll_fd_count - 1, POLLIN ); + poll_fds[0].fd = apiData->trigger_fds[0]; + poll_fds[0].events = POLLIN; + + while ( data->doInput ) { + + if ( snd_seq_event_input_pending( apiData->seq, 1 ) == 0 ) { + // No data pending + if ( poll( poll_fds, poll_fd_count, -1) >= 0 ) { + if ( poll_fds[0].revents & POLLIN ) { + bool dummy; + int res = read( poll_fds[0].fd, &dummy, sizeof(dummy) ); + (void) res; + } + } + continue; + } + + // If here, there should be data. + result = snd_seq_event_input( apiData->seq, &ev ); + if ( result == -ENOSPC ) { + std::cerr << "\nMidiInAlsa::alsaMidiHandler: MIDI input buffer overrun!\n\n"; + continue; + } + else if ( result <= 0 ) { + std::cerr << "MidiInAlsa::alsaMidiHandler: unknown MIDI input error!\n"; + continue; + } + + // This is a bit weird, but we now have to decode an ALSA MIDI + // event (back) into MIDI bytes. We'll ignore non-MIDI types. + if ( !continueSysex ) message.bytes.clear(); + + doDecode = false; + switch ( ev->type ) { + + case SND_SEQ_EVENT_PORT_SUBSCRIBED: +#if defined(__RTMIDI_DEBUG__) + std::cout << "MidiInAlsa::alsaMidiHandler: port connection made!\n"; +#endif + break; + + case SND_SEQ_EVENT_PORT_UNSUBSCRIBED: +#if defined(__RTMIDI_DEBUG__) + std::cerr << "MidiInAlsa::alsaMidiHandler: port connection has closed!\n"; + std::cout << "sender = " << (int) ev->data.connect.sender.client << ":" + << (int) ev->data.connect.sender.port + << ", dest = " << (int) ev->data.connect.dest.client << ":" + << (int) ev->data.connect.dest.port + << std::endl; +#endif + break; + + case SND_SEQ_EVENT_QFRAME: // MIDI time code + if ( !( data->ignoreFlags & 0x02 ) ) doDecode = true; + break; + + case SND_SEQ_EVENT_TICK: // MIDI timing tick + if ( !( data->ignoreFlags & 0x02 ) ) doDecode = true; + break; + + case SND_SEQ_EVENT_SENSING: // Active sensing + if ( !( data->ignoreFlags & 0x04 ) ) doDecode = true; + break; + + case SND_SEQ_EVENT_SYSEX: + if ( (data->ignoreFlags & 0x01) ) break; + if ( ev->data.ext.len > apiData->bufferSize ) { + apiData->bufferSize = ev->data.ext.len; + free( buffer ); + buffer = (unsigned char *) malloc( apiData->bufferSize ); + if ( buffer == NULL ) { + data->doInput = false; + std::cerr << "\nMidiInAlsa::alsaMidiHandler: error resizing buffer memory!\n\n"; + break; + } + } + + default: + doDecode = true; + } + + if ( doDecode ) { + + nBytes = snd_midi_event_decode( apiData->coder, buffer, apiData->bufferSize, ev ); + if ( nBytes > 0 ) { + // The ALSA sequencer has a maximum buffer size for MIDI sysex + // events of 256 bytes. If a device sends sysex messages larger + // than this, they are segmented into 256 byte chunks. So, + // we'll watch for this and concatenate sysex chunks into a + // single sysex message if necessary. + if ( !continueSysex ) + message.bytes.assign( buffer, &buffer[nBytes] ); + else + message.bytes.insert( message.bytes.end(), buffer, &buffer[nBytes] ); + + continueSysex = ( ( ev->type == SND_SEQ_EVENT_SYSEX ) && ( message.bytes.back() != 0xF7 ) ); + if ( !continueSysex ) { + + // Calculate the time stamp: + message.timeStamp = 0.0; + + // Method 1: Use the system time. + //(void)gettimeofday(&tv, (struct timezone *)NULL); + //time = (tv.tv_sec * 1000000) + tv.tv_usec; + + // Method 2: Use the ALSA sequencer event time data. + // (thanks to Pedro Lopez-Cabanillas!). + time = ( ev->time.time.tv_sec * 1000000 ) + ( ev->time.time.tv_nsec/1000 ); + lastTime = time; + time -= apiData->lastTime; + apiData->lastTime = lastTime; + if ( data->firstMessage == true ) + data->firstMessage = false; + else + message.timeStamp = time * 0.000001; + } + else { +#if defined(__RTMIDI_DEBUG__) + std::cerr << "\nMidiInAlsa::alsaMidiHandler: event parsing error or not a MIDI event!\n\n"; +#endif + } + } + } + + snd_seq_free_event( ev ); + if ( message.bytes.size() == 0 || continueSysex ) continue; + + if ( data->usingCallback ) { + RtMidiIn::RtMidiCallback callback = (RtMidiIn::RtMidiCallback) data->userCallback; + callback( message.timeStamp, &message.bytes, data->userData ); + } + else { + // As long as we haven't reached our queue size limit, push the message. + if ( data->queue.size < data->queue.ringSize ) { + data->queue.ring[data->queue.back++] = message; + if ( data->queue.back == data->queue.ringSize ) + data->queue.back = 0; + data->queue.size++; + } + else + std::cerr << "\nMidiInAlsa: message queue limit reached!!\n\n"; + } + } + + if ( buffer ) free( buffer ); + snd_midi_event_free( apiData->coder ); + apiData->coder = 0; + apiData->thread = apiData->dummy_thread_id; + return 0; +} + +MidiInAlsa :: MidiInAlsa( const std::string clientName, unsigned int queueSizeLimit ) : MidiInApi( queueSizeLimit ) +{ + initialize( clientName ); +} + +MidiInAlsa :: ~MidiInAlsa() +{ + // Close a connection if it exists. + closePort(); + + // Shutdown the input thread. + AlsaMidiData *data = static_cast (apiData_); + if ( inputData_.doInput ) { + inputData_.doInput = false; + int res = write( data->trigger_fds[1], &inputData_.doInput, sizeof(inputData_.doInput) ); + (void) res; + if ( !pthread_equal(data->thread, data->dummy_thread_id) ) + pthread_join( data->thread, NULL ); + } + + // Cleanup. + close ( data->trigger_fds[0] ); + close ( data->trigger_fds[1] ); + if ( data->vport >= 0 ) snd_seq_delete_port( data->seq, data->vport ); +#ifndef AVOID_TIMESTAMPING + snd_seq_free_queue( data->seq, data->queue_id ); +#endif + freeSequencer(); + delete data; +} + +void MidiInAlsa :: initialize( const std::string& clientName ) +{ + snd_seq_t* seq = createSequencer( clientName ); + if ( seq == NULL ) { + s_seq = NULL; + errorString_ = "MidiInAlsa::initialize: error creating ALSA sequencer client object."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Save our api-specific connection information. + AlsaMidiData *data = (AlsaMidiData *) new AlsaMidiData; + data->seq = seq; + data->portNum = -1; + data->vport = -1; + data->subscription = 0; + data->dummy_thread_id = pthread_self(); + data->thread = data->dummy_thread_id; + data->trigger_fds[0] = -1; + data->trigger_fds[1] = -1; + apiData_ = (void *) data; + inputData_.apiData = (void *) data; + + if ( pipe(data->trigger_fds) == -1 ) { + errorString_ = "MidiInAlsa::initialize: error creating pipe objects."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Create the input queue +#ifndef AVOID_TIMESTAMPING + data->queue_id = snd_seq_alloc_named_queue(s_seq, "RtMidi Queue"); + // Set arbitrary tempo (mm=100) and resolution (240) + snd_seq_queue_tempo_t *qtempo; + snd_seq_queue_tempo_alloca(&qtempo); + snd_seq_queue_tempo_set_tempo(qtempo, 600000); + snd_seq_queue_tempo_set_ppq(qtempo, 240); + snd_seq_set_queue_tempo(data->seq, data->queue_id, qtempo); + snd_seq_drain_output(data->seq); +#endif +} + +// This function is used to count or get the pinfo structure for a given port number. +unsigned int portInfo( snd_seq_t *seq, snd_seq_port_info_t *pinfo, unsigned int type, int portNumber ) +{ + snd_seq_client_info_t *cinfo; + int client; + int count = 0; + snd_seq_client_info_alloca( &cinfo ); + + snd_seq_client_info_set_client( cinfo, -1 ); + while ( snd_seq_query_next_client( seq, cinfo ) >= 0 ) { + client = snd_seq_client_info_get_client( cinfo ); + if ( client == 0 ) continue; + // Reset query info + snd_seq_port_info_set_client( pinfo, client ); + snd_seq_port_info_set_port( pinfo, -1 ); + while ( snd_seq_query_next_port( seq, pinfo ) >= 0 ) { + unsigned int atyp = snd_seq_port_info_get_type( pinfo ); + if ( ( atyp & SND_SEQ_PORT_TYPE_MIDI_GENERIC ) == 0 ) continue; + unsigned int caps = snd_seq_port_info_get_capability( pinfo ); + if ( ( caps & type ) != type ) continue; + if ( count == portNumber ) return 1; + ++count; + } + } + + // If a negative portNumber was used, return the port count. + if ( portNumber < 0 ) return count; + return 0; +} + +unsigned int MidiInAlsa :: getPortCount() +{ + snd_seq_port_info_t *pinfo; + snd_seq_port_info_alloca( &pinfo ); + + AlsaMidiData *data = static_cast (apiData_); + return portInfo( data->seq, pinfo, SND_SEQ_PORT_CAP_READ|SND_SEQ_PORT_CAP_SUBS_READ, -1 ); +} + +std::string MidiInAlsa :: getPortName( unsigned int portNumber ) +{ + snd_seq_client_info_t *cinfo; + snd_seq_port_info_t *pinfo; + snd_seq_client_info_alloca( &cinfo ); + snd_seq_port_info_alloca( &pinfo ); + + std::string stringName; + AlsaMidiData *data = static_cast (apiData_); + if ( portInfo( data->seq, pinfo, SND_SEQ_PORT_CAP_READ|SND_SEQ_PORT_CAP_SUBS_READ, (int) portNumber ) ) { + int cnum = snd_seq_port_info_get_client( pinfo ); + snd_seq_get_any_client_info( data->seq, cnum, cinfo ); + std::ostringstream os; + os << snd_seq_client_info_get_name( cinfo ); + os << " "; // GO: These lines added to make sure devices are listed + os << snd_seq_port_info_get_client( pinfo ); // GO: with full portnames added to ensure individual device names + os << ":"; + os << snd_seq_port_info_get_port( pinfo ); + stringName = os.str(); + return stringName; + } + + // If we get here, we didn't find a match. + errorString_ = "MidiInAlsa::getPortName: error looking for port name!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return stringName; + //RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); +} + +void MidiInAlsa :: openPort( unsigned int portNumber, const std::string portName ) +{ + if ( connected_ ) { + errorString_ = "MidiInAlsa::openPort: a valid connection already exists!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + unsigned int nSrc = this->getPortCount(); + if (nSrc < 1) { + errorString_ = "MidiInAlsa::openPort: no MIDI input sources found!"; + RtMidi::error( RtError::NO_DEVICES_FOUND, errorString_ ); + } + + snd_seq_port_info_t *pinfo; + snd_seq_port_info_alloca( &pinfo ); + std::ostringstream ost; + AlsaMidiData *data = static_cast (apiData_); + if ( portInfo( data->seq, pinfo, SND_SEQ_PORT_CAP_READ|SND_SEQ_PORT_CAP_SUBS_READ, (int) portNumber ) == 0 ) { + ost << "MidiInAlsa::openPort: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + } + + + snd_seq_addr_t sender, receiver; + sender.client = snd_seq_port_info_get_client( pinfo ); + sender.port = snd_seq_port_info_get_port( pinfo ); + receiver.client = snd_seq_client_id( data->seq ); + if ( data->vport < 0 ) { + snd_seq_port_info_set_client( pinfo, 0 ); + snd_seq_port_info_set_port( pinfo, 0 ); + snd_seq_port_info_set_capability( pinfo, + SND_SEQ_PORT_CAP_WRITE | + SND_SEQ_PORT_CAP_SUBS_WRITE ); + snd_seq_port_info_set_type( pinfo, + SND_SEQ_PORT_TYPE_MIDI_GENERIC | + SND_SEQ_PORT_TYPE_APPLICATION ); + snd_seq_port_info_set_midi_channels(pinfo, 16); +#ifndef AVOID_TIMESTAMPING + snd_seq_port_info_set_timestamping(pinfo, 1); + snd_seq_port_info_set_timestamp_real(pinfo, 1); + snd_seq_port_info_set_timestamp_queue(pinfo, data->queue_id); +#endif + snd_seq_port_info_set_name(pinfo, portName.c_str() ); + data->vport = snd_seq_create_port(data->seq, pinfo); + + if ( data->vport < 0 ) { + errorString_ = "MidiInAlsa::openPort: ALSA error creating input port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + } + + receiver.port = data->vport; + + if ( !data->subscription ) { + // Make subscription + if (snd_seq_port_subscribe_malloc( &data->subscription ) < 0) { + errorString_ = "MidiInAlsa::openPort: ALSA error allocation port subscription."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + snd_seq_port_subscribe_set_sender(data->subscription, &sender); + snd_seq_port_subscribe_set_dest(data->subscription, &receiver); + if ( snd_seq_subscribe_port(data->seq, data->subscription) ) { + snd_seq_port_subscribe_free( data->subscription ); + data->subscription = 0; + errorString_ = "MidiInAlsa::openPort: ALSA error making port connection."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + } + + if ( inputData_.doInput == false ) { + // Start the input queue +#ifndef AVOID_TIMESTAMPING + snd_seq_start_queue( data->seq, data->queue_id, NULL ); + snd_seq_drain_output( data->seq ); +#endif + // Start our MIDI input thread. + pthread_attr_t attr; + pthread_attr_init(&attr); + pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE); + pthread_attr_setschedpolicy(&attr, SCHED_OTHER); + + inputData_.doInput = true; + int err = pthread_create(&data->thread, &attr, alsaMidiHandler, &inputData_); + pthread_attr_destroy(&attr); + if ( err ) { + snd_seq_unsubscribe_port( data->seq, data->subscription ); + snd_seq_port_subscribe_free( data->subscription ); + data->subscription = 0; + inputData_.doInput = false; + errorString_ = "MidiInAlsa::openPort: error starting MIDI input thread!"; + RtMidi::error( RtError::THREAD_ERROR, errorString_ ); + } + } + + connected_ = true; +} + +void MidiInAlsa :: openVirtualPort( std::string portName ) +{ + AlsaMidiData *data = static_cast (apiData_); + if ( data->vport < 0 ) { + snd_seq_port_info_t *pinfo; + snd_seq_port_info_alloca( &pinfo ); + snd_seq_port_info_set_capability( pinfo, + SND_SEQ_PORT_CAP_WRITE | + SND_SEQ_PORT_CAP_SUBS_WRITE ); + snd_seq_port_info_set_type( pinfo, + SND_SEQ_PORT_TYPE_MIDI_GENERIC | + SND_SEQ_PORT_TYPE_APPLICATION ); + snd_seq_port_info_set_midi_channels(pinfo, 16); +#ifndef AVOID_TIMESTAMPING + snd_seq_port_info_set_timestamping(pinfo, 1); + snd_seq_port_info_set_timestamp_real(pinfo, 1); + snd_seq_port_info_set_timestamp_queue(pinfo, data->queue_id); +#endif + snd_seq_port_info_set_name(pinfo, portName.c_str()); + data->vport = snd_seq_create_port(data->seq, pinfo); + + if ( data->vport < 0 ) { + errorString_ = "MidiInAlsa::openVirtualPort: ALSA error creating virtual port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + } + + if ( inputData_.doInput == false ) { + // Wait for old thread to stop, if still running + if ( !pthread_equal(data->thread, data->dummy_thread_id) ) + pthread_join( data->thread, NULL ); + + // Start the input queue +#ifndef AVOID_TIMESTAMPING + snd_seq_start_queue( data->seq, data->queue_id, NULL ); + snd_seq_drain_output( data->seq ); +#endif + // Start our MIDI input thread. + pthread_attr_t attr; + pthread_attr_init(&attr); + pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE); + pthread_attr_setschedpolicy(&attr, SCHED_OTHER); + + inputData_.doInput = true; + int err = pthread_create(&data->thread, &attr, alsaMidiHandler, &inputData_); + pthread_attr_destroy(&attr); + if ( err ) { + if ( data->subscription ) { + snd_seq_unsubscribe_port( data->seq, data->subscription ); + snd_seq_port_subscribe_free( data->subscription ); + data->subscription = 0; + } + inputData_.doInput = false; + errorString_ = "MidiInAlsa::openPort: error starting MIDI input thread!"; + RtMidi::error( RtError::THREAD_ERROR, errorString_ ); + } + } +} + +void MidiInAlsa :: closePort( void ) +{ + AlsaMidiData *data = static_cast (apiData_); + + if ( connected_ ) { + if ( data->subscription ) { + snd_seq_unsubscribe_port( data->seq, data->subscription ); + snd_seq_port_subscribe_free( data->subscription ); + data->subscription = 0; + } + // Stop the input queue +#ifndef AVOID_TIMESTAMPING + snd_seq_stop_queue( data->seq, data->queue_id, NULL ); + snd_seq_drain_output( data->seq ); +#endif + connected_ = false; + } + + // Stop thread to avoid triggering the callback, while the port is intended to be closed + if ( inputData_.doInput ) { + inputData_.doInput = false; + int res = write( data->trigger_fds[1], &inputData_.doInput, sizeof(inputData_.doInput) ); + (void) res; + if ( !pthread_equal(data->thread, data->dummy_thread_id) ) + pthread_join( data->thread, NULL ); + } +} + +//*********************************************************************// +// API: LINUX ALSA +// Class Definitions: MidiOutAlsa +//*********************************************************************// + +MidiOutAlsa :: MidiOutAlsa( const std::string clientName ) : MidiOutApi() +{ + initialize( clientName ); +} + +MidiOutAlsa :: ~MidiOutAlsa() +{ + // Close a connection if it exists. + closePort(); + + // Cleanup. + AlsaMidiData *data = static_cast (apiData_); + if ( data->vport >= 0 ) snd_seq_delete_port( data->seq, data->vport ); + if ( data->coder ) snd_midi_event_free( data->coder ); + if ( data->buffer ) free( data->buffer ); + freeSequencer(); + delete data; +} + +void MidiOutAlsa :: initialize( const std::string& clientName ) +{ + snd_seq_t* seq = createSequencer( clientName ); + if ( seq == NULL ) { + s_seq = NULL; + errorString_ = "MidiOutAlsa::initialize: error creating ALSA sequencer client object."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Save our api-specific connection information. + AlsaMidiData *data = (AlsaMidiData *) new AlsaMidiData; + data->seq = seq; + data->portNum = -1; + data->vport = -1; + data->bufferSize = 32; + data->coder = 0; + data->buffer = 0; + int result = snd_midi_event_new( data->bufferSize, &data->coder ); + if ( result < 0 ) { + delete data; + errorString_ = "MidiOutAlsa::initialize: error initializing MIDI event parser!\n\n"; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + data->buffer = (unsigned char *) malloc( data->bufferSize ); + if ( data->buffer == NULL ) { + delete data; + errorString_ = "MidiOutAlsa::initialize: error allocating buffer memory!\n\n"; + RtMidi::error( RtError::MEMORY_ERROR, errorString_ ); + } + snd_midi_event_init( data->coder ); + apiData_ = (void *) data; +} + +unsigned int MidiOutAlsa :: getPortCount() +{ + snd_seq_port_info_t *pinfo; + snd_seq_port_info_alloca( &pinfo ); + + AlsaMidiData *data = static_cast (apiData_); + return portInfo( data->seq, pinfo, SND_SEQ_PORT_CAP_WRITE|SND_SEQ_PORT_CAP_SUBS_WRITE, -1 ); +} + +std::string MidiOutAlsa :: getPortName( unsigned int portNumber ) +{ + snd_seq_client_info_t *cinfo; + snd_seq_port_info_t *pinfo; + snd_seq_client_info_alloca( &cinfo ); + snd_seq_port_info_alloca( &pinfo ); + + std::string stringName; + AlsaMidiData *data = static_cast (apiData_); + if ( portInfo( data->seq, pinfo, SND_SEQ_PORT_CAP_WRITE|SND_SEQ_PORT_CAP_SUBS_WRITE, (int) portNumber ) ) { + int cnum = snd_seq_port_info_get_client(pinfo); + snd_seq_get_any_client_info( data->seq, cnum, cinfo ); + std::ostringstream os; + os << snd_seq_client_info_get_name(cinfo); + os << ":"; + os << snd_seq_port_info_get_port(pinfo); + stringName = os.str(); + return stringName; + } + + // If we get here, we didn't find a match. + errorString_ = "MidiOutAlsa::getPortName: error looking for port name!"; + //RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + RtMidi::error( RtError::WARNING, errorString_ ); + return stringName; +} + +void MidiOutAlsa :: openPort( unsigned int portNumber, const std::string portName ) +{ + if ( connected_ ) { + errorString_ = "MidiOutAlsa::openPort: a valid connection already exists!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + unsigned int nSrc = this->getPortCount(); + if (nSrc < 1) { + errorString_ = "MidiOutAlsa::openPort: no MIDI output sources found!"; + RtMidi::error( RtError::NO_DEVICES_FOUND, errorString_ ); + } + + snd_seq_port_info_t *pinfo; + snd_seq_port_info_alloca( &pinfo ); + std::ostringstream ost; + AlsaMidiData *data = static_cast (apiData_); + if ( portInfo( data->seq, pinfo, SND_SEQ_PORT_CAP_WRITE|SND_SEQ_PORT_CAP_SUBS_WRITE, (int) portNumber ) == 0 ) { + ost << "MidiOutAlsa::openPort: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + } + + snd_seq_addr_t sender, receiver; + receiver.client = snd_seq_port_info_get_client( pinfo ); + receiver.port = snd_seq_port_info_get_port( pinfo ); + sender.client = snd_seq_client_id( data->seq ); + + if ( data->vport < 0 ) { + data->vport = snd_seq_create_simple_port( data->seq, portName.c_str(), + SND_SEQ_PORT_CAP_READ|SND_SEQ_PORT_CAP_SUBS_READ, + SND_SEQ_PORT_TYPE_MIDI_GENERIC|SND_SEQ_PORT_TYPE_APPLICATION ); + if ( data->vport < 0 ) { + errorString_ = "MidiOutAlsa::openPort: ALSA error creating output port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + } + + sender.port = data->vport; + + // Make subscription + if (snd_seq_port_subscribe_malloc( &data->subscription ) < 0) { + snd_seq_port_subscribe_free( data->subscription ); + errorString_ = "MidiOutAlsa::openPort: error allocation port subscribtion."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + snd_seq_port_subscribe_set_sender(data->subscription, &sender); + snd_seq_port_subscribe_set_dest(data->subscription, &receiver); + snd_seq_port_subscribe_set_time_update(data->subscription, 1); + snd_seq_port_subscribe_set_time_real(data->subscription, 1); + if ( snd_seq_subscribe_port(data->seq, data->subscription) ) { + snd_seq_port_subscribe_free( data->subscription ); + errorString_ = "MidiOutAlsa::openPort: ALSA error making port connection."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + connected_ = true; +} + +void MidiOutAlsa :: closePort( void ) +{ + if ( connected_ ) { + AlsaMidiData *data = static_cast (apiData_); + snd_seq_unsubscribe_port( data->seq, data->subscription ); + snd_seq_port_subscribe_free( data->subscription ); + connected_ = false; + } +} + +void MidiOutAlsa :: openVirtualPort( std::string portName ) +{ + AlsaMidiData *data = static_cast (apiData_); + if ( data->vport < 0 ) { + data->vport = snd_seq_create_simple_port( data->seq, portName.c_str(), + SND_SEQ_PORT_CAP_READ|SND_SEQ_PORT_CAP_SUBS_READ, + SND_SEQ_PORT_TYPE_MIDI_GENERIC|SND_SEQ_PORT_TYPE_APPLICATION ); + + if ( data->vport < 0 ) { + errorString_ = "MidiOutAlsa::openVirtualPort: ALSA error creating virtual port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + } +} + +void MidiOutAlsa :: sendMessage( std::vector *message ) +{ + int result; + AlsaMidiData *data = static_cast (apiData_); + unsigned int nBytes = message->size(); + if ( nBytes > data->bufferSize ) { + data->bufferSize = nBytes; + result = snd_midi_event_resize_buffer ( data->coder, nBytes); + if ( result != 0 ) { + errorString_ = "MidiOutAlsa::sendMessage: ALSA error resizing MIDI event buffer."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + free (data->buffer); + data->buffer = (unsigned char *) malloc( data->bufferSize ); + if ( data->buffer == NULL ) { + errorString_ = "MidiOutAlsa::initialize: error allocating buffer memory!\n\n"; + RtMidi::error( RtError::MEMORY_ERROR, errorString_ ); + } + } + + snd_seq_event_t ev; + snd_seq_ev_clear(&ev); + snd_seq_ev_set_source(&ev, data->vport); + snd_seq_ev_set_subs(&ev); + snd_seq_ev_set_direct(&ev); + for ( unsigned int i=0; ibuffer[i] = message->at(i); + result = snd_midi_event_encode( data->coder, data->buffer, (long)nBytes, &ev ); + if ( result < (int)nBytes ) { + errorString_ = "MidiOutAlsa::sendMessage: event parsing error!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + // Send the event. + result = snd_seq_event_output(data->seq, &ev); + if ( result < 0 ) { + errorString_ = "MidiOutAlsa::sendMessage: error sending MIDI message to port."; + RtMidi::error( RtError::WARNING, errorString_ ); + } + snd_seq_drain_output(data->seq); +} + +#endif // __LINUX_ALSA__ + + +//*********************************************************************// +// API: Windows Multimedia Library (MM) +//*********************************************************************// + +// API information deciphered from: +// - http://msdn.microsoft.com/library/default.asp?url=/library/en-us/multimed/htm/_win32_midi_reference.asp + +// Thanks to Jean-Baptiste Berruchon for the sysex code. + +#if defined(__WINDOWS_MM__) + +// The Windows MM API is based on the use of a callback function for +// MIDI input. We convert the system specific time stamps to delta +// time values. + +// Windows MM MIDI header files. +#include +#include + +#define RT_SYSEX_BUFFER_SIZE 1024 +#define RT_SYSEX_BUFFER_COUNT 4 + +// A structure to hold variables related to the CoreMIDI API +// implementation. +struct WinMidiData { + HMIDIIN inHandle; // Handle to Midi Input Device + HMIDIOUT outHandle; // Handle to Midi Output Device + DWORD lastTime; + MidiInApi::MidiMessage message; + LPMIDIHDR sysexBuffer[RT_SYSEX_BUFFER_COUNT]; +}; + +//*********************************************************************// +// API: Windows MM +// Class Definitions: MidiInWinMM +//*********************************************************************// + +static void CALLBACK midiInputCallback( HMIDIIN hmin, + UINT inputStatus, + DWORD_PTR instancePtr, + DWORD_PTR midiMessage, + DWORD timestamp ) +{ + if ( inputStatus != MIM_DATA && inputStatus != MIM_LONGDATA && inputStatus != MIM_LONGERROR ) return; + + //MidiInApi::RtMidiInData *data = static_cast (instancePtr); + MidiInApi::RtMidiInData *data = (MidiInApi::RtMidiInData *)instancePtr; + WinMidiData *apiData = static_cast (data->apiData); + + // Calculate time stamp. + if ( data->firstMessage == true ) { + apiData->message.timeStamp = 0.0; + data->firstMessage = false; + } + else apiData->message.timeStamp = (double) ( timestamp - apiData->lastTime ) * 0.001; + apiData->lastTime = timestamp; + + if ( inputStatus == MIM_DATA ) { // Channel or system message + + // Make sure the first byte is a status byte. + unsigned char status = (unsigned char) (midiMessage & 0x000000FF); + if ( !(status & 0x80) ) return; + + // Determine the number of bytes in the MIDI message. + unsigned short nBytes = 1; + if ( status < 0xC0 ) nBytes = 3; + else if ( status < 0xE0 ) nBytes = 2; + else if ( status < 0xF0 ) nBytes = 3; + else if ( status == 0xF1 ) { + if ( data->ignoreFlags & 0x02 ) return; + else nBytes = 2; + } + else if ( status == 0xF2 ) nBytes = 3; + else if ( status == 0xF3 ) nBytes = 2; + else if ( status == 0xF8 && (data->ignoreFlags & 0x02) ) { + // A MIDI timing tick message and we're ignoring it. + return; + } + else if ( status == 0xFE && (data->ignoreFlags & 0x04) ) { + // A MIDI active sensing message and we're ignoring it. + return; + } + + // Copy bytes to our MIDI message. + unsigned char *ptr = (unsigned char *) &midiMessage; + for ( int i=0; imessage.bytes.push_back( *ptr++ ); + } + else { // Sysex message ( MIM_LONGDATA or MIM_LONGERROR ) + MIDIHDR *sysex = ( MIDIHDR *) midiMessage; + if ( !( data->ignoreFlags & 0x01 ) && inputStatus != MIM_LONGERROR ) { + // Sysex message and we're not ignoring it + for ( int i=0; i<(int)sysex->dwBytesRecorded; ++i ) + apiData->message.bytes.push_back( sysex->lpData[i] ); + } + + // The WinMM API requires that the sysex buffer be requeued after + // input of each sysex message. Even if we are ignoring sysex + // messages, we still need to requeue the buffer in case the user + // decides to not ignore sysex messages in the future. However, + // it seems that WinMM calls this function with an empty sysex + // buffer when an application closes and in this case, we should + // avoid requeueing it, else the computer suddenly reboots after + // one or two minutes. + if ( apiData->sysexBuffer[sysex->dwUser]->dwBytesRecorded > 0 ) { + //if ( sysex->dwBytesRecorded > 0 ) { + MMRESULT result = midiInAddBuffer( apiData->inHandle, apiData->sysexBuffer[sysex->dwUser], sizeof(MIDIHDR) ); + if ( result != MMSYSERR_NOERROR ) + std::cerr << "\nRtMidiIn::midiInputCallback: error sending sysex to Midi device!!\n\n"; + + if ( data->ignoreFlags & 0x01 ) return; + } + else return; + } + + if ( data->usingCallback ) { + RtMidiIn::RtMidiCallback callback = (RtMidiIn::RtMidiCallback) data->userCallback; + callback( apiData->message.timeStamp, &apiData->message.bytes, data->userData ); + } + else { + // As long as we haven't reached our queue size limit, push the message. + if ( data->queue.size < data->queue.ringSize ) { + data->queue.ring[data->queue.back++] = apiData->message; + if ( data->queue.back == data->queue.ringSize ) + data->queue.back = 0; + data->queue.size++; + } + else + std::cerr << "\nRtMidiIn: message queue limit reached!!\n\n"; + } + + // Clear the vector for the next input message. + apiData->message.bytes.clear(); +} + +MidiInWinMM :: MidiInWinMM( const std::string clientName, unsigned int queueSizeLimit ) : MidiInApi( queueSizeLimit ) +{ + initialize( clientName ); +} + +MidiInWinMM :: ~MidiInWinMM() +{ + // Close a connection if it exists. + closePort(); + + // Cleanup. + WinMidiData *data = static_cast (apiData_); + delete data; +} + +void MidiInWinMM :: initialize( const std::string& /*clientName*/ ) +{ + // We'll issue a warning here if no devices are available but not + // throw an error since the user can plugin something later. + unsigned int nDevices = midiInGetNumDevs(); + if ( nDevices == 0 ) { + errorString_ = "MidiInWinMM::initialize: no MIDI input devices currently available."; + RtMidi::error( RtError::WARNING, errorString_ ); + } + + // Save our api-specific connection information. + WinMidiData *data = (WinMidiData *) new WinMidiData; + apiData_ = (void *) data; + inputData_.apiData = (void *) data; + data->message.bytes.clear(); // needs to be empty for first input message +} + +void MidiInWinMM :: openPort( unsigned int portNumber, const std::string /*portName*/ ) +{ + if ( connected_ ) { + errorString_ = "MidiInWinMM::openPort: a valid connection already exists!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + unsigned int nDevices = midiInGetNumDevs(); + if (nDevices == 0) { + errorString_ = "MidiInWinMM::openPort: no MIDI input sources found!"; + RtMidi::error( RtError::NO_DEVICES_FOUND, errorString_ ); + } + + std::ostringstream ost; + if ( portNumber >= nDevices ) { + ost << "MidiInWinMM::openPort: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + } + + WinMidiData *data = static_cast (apiData_); + MMRESULT result = midiInOpen( &data->inHandle, + portNumber, + (DWORD_PTR)&midiInputCallback, + (DWORD_PTR)&inputData_, + CALLBACK_FUNCTION ); + if ( result != MMSYSERR_NOERROR ) { + errorString_ = "MidiInWinMM::openPort: error creating Windows MM MIDI input port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Allocate and init the sysex buffers. + for ( int i=0; isysexBuffer[i] = (MIDIHDR*) new char[ sizeof(MIDIHDR) ]; + data->sysexBuffer[i]->lpData = new char[ RT_SYSEX_BUFFER_SIZE ]; + data->sysexBuffer[i]->dwBufferLength = RT_SYSEX_BUFFER_SIZE; + data->sysexBuffer[i]->dwUser = i; // We use the dwUser parameter as buffer indicator + data->sysexBuffer[i]->dwFlags = 0; + + result = midiInPrepareHeader( data->inHandle, data->sysexBuffer[i], sizeof(MIDIHDR) ); + if ( result != MMSYSERR_NOERROR ) { + midiInClose( data->inHandle ); + errorString_ = "MidiInWinMM::openPort: error starting Windows MM MIDI input port (PrepareHeader)."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Register the buffer. + result = midiInAddBuffer( data->inHandle, data->sysexBuffer[i], sizeof(MIDIHDR) ); + if ( result != MMSYSERR_NOERROR ) { + midiInClose( data->inHandle ); + errorString_ = "MidiInWinMM::openPort: error starting Windows MM MIDI input port (AddBuffer)."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + } + + result = midiInStart( data->inHandle ); + if ( result != MMSYSERR_NOERROR ) { + midiInClose( data->inHandle ); + errorString_ = "MidiInWinMM::openPort: error starting Windows MM MIDI input port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + connected_ = true; +} + +void MidiInWinMM :: openVirtualPort( std::string portName ) +{ + // This function cannot be implemented for the Windows MM MIDI API. + errorString_ = "MidiInWinMM::openVirtualPort: cannot be implemented in Windows MM MIDI API!"; + RtMidi::error( RtError::WARNING, errorString_ ); +} + +void MidiInWinMM :: closePort( void ) +{ + if ( connected_ ) { + WinMidiData *data = static_cast (apiData_); + midiInReset( data->inHandle ); + midiInStop( data->inHandle ); + + for ( int i=0; iinHandle, data->sysexBuffer[i], sizeof(MIDIHDR)); + delete [] data->sysexBuffer[i]->lpData; + delete [] data->sysexBuffer[i]; + if ( result != MMSYSERR_NOERROR ) { + midiInClose( data->inHandle ); + errorString_ = "MidiInWinMM::openPort: error closing Windows MM MIDI input port (midiInUnprepareHeader)."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + } + + midiInClose( data->inHandle ); + connected_ = false; + } +} + +unsigned int MidiInWinMM :: getPortCount() +{ + return midiInGetNumDevs(); +} + +std::string MidiInWinMM :: getPortName( unsigned int portNumber ) +{ + std::string stringName; + unsigned int nDevices = midiInGetNumDevs(); + if ( portNumber >= nDevices ) { + std::ostringstream ost; + ost << "MidiInWinMM::getPortName: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + //RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + RtMidi::error( RtError::WARNING, errorString_ ); + return stringName; + } + + MIDIINCAPS deviceCaps; + midiInGetDevCaps( portNumber, &deviceCaps, sizeof(MIDIINCAPS)); + +#if defined( UNICODE ) || defined( _UNICODE ) + int length = WideCharToMultiByte(CP_UTF8, 0, deviceCaps.szPname, -1, NULL, 0, NULL, NULL); + stringName.assign( length, 0 ); + length = WideCharToMultiByte(CP_UTF8, 0, deviceCaps.szPname, wcslen(deviceCaps.szPname), &stringName[0], length, NULL, NULL); +#else + stringName = std::string( deviceCaps.szPname ); +#endif + + // Next lines added to add the portNumber to the name so that + // the device's names are sure to be listed with individual names + // even when they have the same brand name + std::ostringstream os; + os << " "; + os << portNumber; + stringName += os.str(); + + return stringName; +} + +//*********************************************************************// +// API: Windows MM +// Class Definitions: MidiOutWinMM +//*********************************************************************// + +MidiOutWinMM :: MidiOutWinMM( const std::string clientName ) : MidiOutApi() +{ + initialize( clientName ); +} + +MidiOutWinMM :: ~MidiOutWinMM() +{ + // Close a connection if it exists. + closePort(); + + // Cleanup. + WinMidiData *data = static_cast (apiData_); + delete data; +} + +void MidiOutWinMM :: initialize( const std::string& /*clientName*/ ) +{ + // We'll issue a warning here if no devices are available but not + // throw an error since the user can plug something in later. + unsigned int nDevices = midiOutGetNumDevs(); + if ( nDevices == 0 ) { + errorString_ = "MidiOutWinMM::initialize: no MIDI output devices currently available."; + RtMidi::error( RtError::WARNING, errorString_ ); + } + + // Save our api-specific connection information. + WinMidiData *data = (WinMidiData *) new WinMidiData; + apiData_ = (void *) data; +} + +unsigned int MidiOutWinMM :: getPortCount() +{ + return midiOutGetNumDevs(); +} + +std::string MidiOutWinMM :: getPortName( unsigned int portNumber ) +{ + std::string stringName; + unsigned int nDevices = midiOutGetNumDevs(); + if ( portNumber >= nDevices ) { + std::ostringstream ost; + ost << "MidiOutWinMM::getPortName: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + //RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + RtMidi::error( RtError::WARNING, errorString_ ); + return stringName; + } + + MIDIOUTCAPS deviceCaps; + midiOutGetDevCaps( portNumber, &deviceCaps, sizeof(MIDIOUTCAPS)); + +#if defined( UNICODE ) || defined( _UNICODE ) + int length = WideCharToMultiByte(CP_UTF8, 0, deviceCaps.szPname, -1, NULL, 0, NULL, NULL); + stringName.assign( length, 0 ); + length = WideCharToMultiByte(CP_UTF8, 0, deviceCaps.szPname, wcslen(deviceCaps.szPname), &stringName[0], length, NULL, NULL); +#else + stringName = std::string( deviceCaps.szPname ); +#endif + + return stringName; +} + +void MidiOutWinMM :: openPort( unsigned int portNumber, const std::string /*portName*/ ) +{ + if ( connected_ ) { + errorString_ = "MidiOutWinMM::openPort: a valid connection already exists!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + unsigned int nDevices = midiOutGetNumDevs(); + if (nDevices < 1) { + errorString_ = "MidiOutWinMM::openPort: no MIDI output destinations found!"; + RtMidi::error( RtError::NO_DEVICES_FOUND, errorString_ ); + } + + std::ostringstream ost; + if ( portNumber >= nDevices ) { + ost << "MidiOutWinMM::openPort: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::INVALID_PARAMETER, errorString_ ); + } + + WinMidiData *data = static_cast (apiData_); + MMRESULT result = midiOutOpen( &data->outHandle, + portNumber, + (DWORD)NULL, + (DWORD)NULL, + CALLBACK_NULL ); + if ( result != MMSYSERR_NOERROR ) { + errorString_ = "MidiOutWinMM::openPort: error creating Windows MM MIDI output port."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + connected_ = true; +} + +void MidiOutWinMM :: closePort( void ) +{ + if ( connected_ ) { + WinMidiData *data = static_cast (apiData_); + midiOutReset( data->outHandle ); + midiOutClose( data->outHandle ); + connected_ = false; + } +} + +void MidiOutWinMM :: openVirtualPort( std::string portName ) +{ + // This function cannot be implemented for the Windows MM MIDI API. + errorString_ = "MidiOutWinMM::openVirtualPort: cannot be implemented in Windows MM MIDI API!"; + RtMidi::error( RtError::WARNING, errorString_ ); +} + +void MidiOutWinMM :: sendMessage( std::vector *message ) +{ + unsigned int nBytes = static_cast(message->size()); + if ( nBytes == 0 ) { + errorString_ = "MidiOutWinMM::sendMessage: message argument is empty!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + MMRESULT result; + WinMidiData *data = static_cast (apiData_); + if ( message->at(0) == 0xF0 ) { // Sysex message + + // Allocate buffer for sysex data. + char *buffer = (char *) malloc( nBytes ); + if ( buffer == NULL ) { + errorString_ = "MidiOutWinMM::sendMessage: error allocating sysex message memory!"; + RtMidi::error( RtError::MEMORY_ERROR, errorString_ ); + } + + // Copy data to buffer. + for ( unsigned int i=0; iat(i); + + // Create and prepare MIDIHDR structure. + MIDIHDR sysex; + sysex.lpData = (LPSTR) buffer; + sysex.dwBufferLength = nBytes; + sysex.dwFlags = 0; + result = midiOutPrepareHeader( data->outHandle, &sysex, sizeof(MIDIHDR) ); + if ( result != MMSYSERR_NOERROR ) { + free( buffer ); + errorString_ = "MidiOutWinMM::sendMessage: error preparing sysex header."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Send the message. + result = midiOutLongMsg( data->outHandle, &sysex, sizeof(MIDIHDR) ); + if ( result != MMSYSERR_NOERROR ) { + free( buffer ); + errorString_ = "MidiOutWinMM::sendMessage: error sending sysex message."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Unprepare the buffer and MIDIHDR. + while ( MIDIERR_STILLPLAYING == midiOutUnprepareHeader( data->outHandle, &sysex, sizeof (MIDIHDR) ) ) Sleep( 1 ); + free( buffer ); + + } + else { // Channel or system message. + + // Make sure the message size isn't too big. + if ( nBytes > 3 ) { + errorString_ = "MidiOutWinMM::sendMessage: message size is greater than 3 bytes (and not sysex)!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return; + } + + // Pack MIDI bytes into double word. + DWORD packet; + unsigned char *ptr = (unsigned char *) &packet; + for ( unsigned int i=0; iat(i); + ++ptr; + } + + // Send the message immediately. + result = midiOutShortMsg( data->outHandle, packet ); + if ( result != MMSYSERR_NOERROR ) { + errorString_ = "MidiOutWinMM::sendMessage: error sending MIDI message."; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + } +} + +#endif // __WINDOWS_MM__ + +// *********************************************************************// +// API: WINDOWS Kernel Streaming +// +// Written by Sebastien Alaiwan, 2012. +// +// NOTE BY GARY: much of the KS-specific code below probably should go in a separate file. +// +// *********************************************************************// + +#if defined(__WINDOWS_KS__) + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ks.h" +#include "ksmedia.h" + +#define INSTANTIATE_GUID(a) GUID const a = { STATIC_ ## a } + +INSTANTIATE_GUID(GUID_NULL); +INSTANTIATE_GUID(KSPROPSETID_Pin); +INSTANTIATE_GUID(KSPROPSETID_Connection); +INSTANTIATE_GUID(KSPROPSETID_Topology); +INSTANTIATE_GUID(KSINTERFACESETID_Standard); +INSTANTIATE_GUID(KSMEDIUMSETID_Standard); +INSTANTIATE_GUID(KSDATAFORMAT_TYPE_MUSIC); +INSTANTIATE_GUID(KSDATAFORMAT_SUBTYPE_MIDI); +INSTANTIATE_GUID(KSDATAFORMAT_SPECIFIER_NONE); + +#undef INSTANTIATE_GUID + +typedef std::basic_string tstring; + +inline bool IsValid(HANDLE handle) +{ + return handle != NULL && handle != INVALID_HANDLE_VALUE; +} + +class ComException : public std::runtime_error +{ +private: + static std::string MakeString(std::string const& s, HRESULT hr) + { + std::stringstream ss; + ss << "(error 0x" << std::hex << hr << ")"; + return s + ss.str(); + } + +public: + ComException(std::string const& s, HRESULT hr) : + std::runtime_error(MakeString(s, hr)) + { + } +}; + +template +class CKsEnumFilters +{ +public: + ~CKsEnumFilters() + { + DestroyLists(); + } + + void EnumFilters(GUID const* categories, size_t numCategories) + { + DestroyLists(); + + if (categories == 0) + { + printf ("Error: CKsEnumFilters: invalid argument\n"); + assert(0); + } + // Get a handle to the device set specified by the guid + HDEVINFO hDevInfo = ::SetupDiGetClassDevs(&categories[0], NULL, NULL, DIGCF_PRESENT | DIGCF_DEVICEINTERFACE); + if (!IsValid(hDevInfo)) + { + printf ("Error: CKsEnumFilters: no devices found"); + assert (0); + } + + // Loop through members of the set and get details for each + for (int iClassMember=0;;iClassMember++) { + { + SP_DEVICE_INTERFACE_DATA DID; + DID.cbSize = sizeof(DID); + DID.Reserved = 0; + + bool fRes = ::SetupDiEnumDeviceInterfaces(hDevInfo, NULL, &categories[0], iClassMember, &DID); + if (!fRes) + break; + + // Get filter friendly name + HKEY hRegKey = ::SetupDiOpenDeviceInterfaceRegKey(hDevInfo, &DID, 0, KEY_READ); + if (hRegKey == INVALID_HANDLE_VALUE) + { + assert(0); + printf "CKsEnumFilters: interface has no registry\n"); + } + char friendlyName[256]; + DWORD dwSize = sizeof friendlyName; + LONG lval = ::RegQueryValueEx(hRegKey, TEXT("FriendlyName"), NULL, NULL, (LPBYTE)friendlyName, &dwSize); + ::RegCloseKey(hRegKey); + if (lval != ERROR_SUCCESS) + { + assert(0); + printf ("CKsEnumFilters: interface has no friendly name"); + } + // Get details for the device registered in this class + DWORD const cbItfDetails = sizeof(SP_DEVICE_INTERFACE_DETAIL_DATA) + MAX_PATH * sizeof(WCHAR); + std::vector buffer(cbItfDetails); + + SP_DEVICE_INTERFACE_DETAIL_DATA* pDevInterfaceDetails = reinterpret_cast(&buffer[0]); + pDevInterfaceDetails->cbSize = sizeof(*pDevInterfaceDetails); + + SP_DEVINFO_DATA DevInfoData; + DevInfoData.cbSize = sizeof(DevInfoData); + DevInfoData.Reserved = 0; + + fRes = ::SetupDiGetDeviceInterfaceDetail(hDevInfo, &DID, pDevInterfaceDetails, cbItfDetails, NULL, &DevInfoData); + if (!fRes) + { + printf("CKsEnumFilters: could not get interface details"); + assert(0); + } + // check additional category guids which may (or may not) have been supplied + for (size_t i=1; i < numCategories; ++i) { + SP_DEVICE_INTERFACE_DATA DIDAlias; + DIDAlias.cbSize = sizeof(DIDAlias); + DIDAlias.Reserved = 0; + + fRes = ::SetupDiGetDeviceInterfaceAlias(hDevInfo, &DID, &categories[i], &DIDAlias); + if (!fRes) + { + printf("CKsEnumFilters: could not get interface alias"); + assert(0); + } + // Check if the this interface alias is enabled. + if (!DIDAlias.Flags || (DIDAlias.Flags & SPINT_REMOVED)) + { + printf("CKsEnumFilters: interface alias is not enabled"); + assert(0); + } + } + + std::auto_ptr pFilter(new TFilterType(pDevInterfaceDetails->DevicePath, friendlyName)); + + pFilter->Instantiate(); + pFilter->FindMidiPins(); + pFilter->Validate(); + + m_Filters.push_back(pFilter.release()); + } + } + + ::SetupDiDestroyDeviceInfoList(hDevInfo); + } + +private: + void DestroyLists() + { + for (size_t i=0;i < m_Filters.size();++i) + delete m_Filters[i]; + m_Filters.clear(); + } + +public: + // TODO: make this private. + std::vector m_Filters; +}; + +class CKsObject +{ +public: + CKsObject(HANDLE handle) : m_handle(handle) + { + } + +protected: + HANDLE m_handle; + + void SetProperty(REFGUID guidPropertySet, ULONG nProperty, void* pvValue, ULONG cbValue) + { + KSPROPERTY ksProperty; + memset(&ksProperty, 0, sizeof ksProperty); + ksProperty.Set = guidPropertySet; + ksProperty.Id = nProperty; + ksProperty.Flags = KSPROPERTY_TYPE_SET; + + HRESULT hr = DeviceIoControlKsProperty(ksProperty, pvValue, cbValue); + if (FAILED(hr)) + { + printf("CKsObject::SetProperty: could not set property"); + exit(0); + } + } + +private: + + HRESULT DeviceIoControlKsProperty(KSPROPERTY& ksProperty, void* pvValue, ULONG cbValue) + { + ULONG ulReturned; + return ::DeviceIoControl( + m_handle, + IOCTL_KS_PROPERTY, + &ksProperty, + sizeof(ksProperty), + pvValue, + cbValue, + &ulReturned, + NULL); + } +}; + +class CKsPin; + +class CKsFilter : public CKsObject +{ + friend class CKsPin; + +public: + CKsFilter(tstring const& name, std::string const& sFriendlyName); + virtual ~CKsFilter(); + + virtual void Instantiate(); + + template + T GetPinProperty(ULONG nPinId, ULONG nProperty) + { + ULONG ulReturned = 0; + T value; + + KSP_PIN ksPProp; + ksPProp.Property.Set = KSPROPSETID_Pin; + ksPProp.Property.Id = nProperty; + ksPProp.Property.Flags = KSPROPERTY_TYPE_GET; + ksPProp.PinId = nPinId; + ksPProp.Reserved = 0; + + HRESULT hr = ::DeviceIoControl( + m_handle, + IOCTL_KS_PROPERTY, + &ksPProp, + sizeof(KSP_PIN), + &value, + sizeof(value), + &ulReturned, + NULL); + if (FAILED(hr)) + { + printf("CKsFilter::GetPinProperty: failed to retrieve property"); + exit(0); + } + + return value; + } + + void GetPinPropertyMulti(ULONG nPinId, REFGUID guidPropertySet, ULONG nProperty, PKSMULTIPLE_ITEM* ppKsMultipleItem) + { + HRESULT hr; + + KSP_PIN ksPProp; + ksPProp.Property.Set = guidPropertySet; + ksPProp.Property.Id = nProperty; + ksPProp.Property.Flags = KSPROPERTY_TYPE_GET; + ksPProp.PinId = nPinId; + ksPProp.Reserved = 0; + + ULONG cbMultipleItem = 0; + hr = ::DeviceIoControl(m_handle, + IOCTL_KS_PROPERTY, + &ksPProp.Property, + sizeof(KSP_PIN), + NULL, + 0, + &cbMultipleItem, + NULL); + if (FAILED(hr)) + { + printf("CKsFilter::GetPinPropertyMulti: cannot get property"); + exit(0); + } + + *ppKsMultipleItem = (PKSMULTIPLE_ITEM) new BYTE[cbMultipleItem]; + + ULONG ulReturned = 0; + hr = ::DeviceIoControl( + m_handle, + IOCTL_KS_PROPERTY, + &ksPProp, + sizeof(KSP_PIN), + (PVOID)*ppKsMultipleItem, + cbMultipleItem, + &ulReturned, + NULL); + if (FAILED(hr)) + { + printf("CKsFilter::GetPinPropertyMulti: cannot get property"); + exit(0); + } + } + + std::string const& GetFriendlyName() const + { + return m_sFriendlyName; + } + +protected: + + std::vector m_Pins; // this list owns the pins. + + std::vector m_RenderPins; + std::vector m_CapturePins; + +private: + std::string const m_sFriendlyName; // friendly name eg "Virus TI Synth" + tstring const m_sName; // Filter path, eg "\\?\usb#vid_133e&pid_0815...\vtimidi02" +}; + +class CKsPin : public CKsObject +{ +public: + CKsPin(CKsFilter* pFilter, ULONG nId); + virtual ~CKsPin(); + + virtual void Instantiate(); + + void ClosePin(); + + void SetState(KSSTATE ksState); + + void WriteData(KSSTREAM_HEADER* pKSSTREAM_HEADER, OVERLAPPED* pOVERLAPPED); + void ReadData(KSSTREAM_HEADER* pKSSTREAM_HEADER, OVERLAPPED* pOVERLAPPED); + + KSPIN_DATAFLOW GetDataFlow() const + { + return m_DataFlow; + } + + bool IsSink() const + { + return m_Communication == KSPIN_COMMUNICATION_SINK + || m_Communication == KSPIN_COMMUNICATION_BOTH; + } + + +protected: + PKSPIN_CONNECT m_pKsPinConnect; // creation parameters of pin + CKsFilter* const m_pFilter; + + ULONG m_cInterfaces; + PKSIDENTIFIER m_pInterfaces; + PKSMULTIPLE_ITEM m_pmiInterfaces; + + ULONG m_cMediums; + PKSIDENTIFIER m_pMediums; + PKSMULTIPLE_ITEM m_pmiMediums; + + ULONG m_cDataRanges; + PKSDATARANGE m_pDataRanges; + PKSMULTIPLE_ITEM m_pmiDataRanges; + + KSPIN_DATAFLOW m_DataFlow; + KSPIN_COMMUNICATION m_Communication; +}; + +CKsFilter::CKsFilter(tstring const& sName, std::string const& sFriendlyName) : + CKsObject(INVALID_HANDLE_VALUE), + m_sFriendlyName(sFriendlyName), + m_sName(sName) +{ + if (sName.empty()) + { + printf("CKsFilter::CKsFilter: name can't be empty"); + assert(0); + } +} + +CKsFilter::~CKsFilter() +{ + for (size_t i=0;i < m_Pins.size();++i) + delete m_Pins[i]; + + if (IsValid(m_handle)) + ::CloseHandle(m_handle); +} + +void CKsFilter::Instantiate() +{ + m_handle = CreateFile( + m_sName.c_str(), + GENERIC_READ | GENERIC_WRITE, + 0, + NULL, + OPEN_EXISTING, + FILE_ATTRIBUTE_NORMAL | FILE_FLAG_OVERLAPPED, + NULL); + + if (!IsValid(m_handle)) + { + DWORD const dwError = GetLastError(); + throw ComException("CKsFilter::Instantiate: can't open driver", HRESULT_FROM_WIN32(dwError)); + } +} + +CKsPin::CKsPin(CKsFilter* pFilter, ULONG PinId) : + CKsObject(INVALID_HANDLE_VALUE), + m_pKsPinConnect(NULL), + m_pFilter(pFilter) +{ + m_Communication = m_pFilter->GetPinProperty(PinId, KSPROPERTY_PIN_COMMUNICATION); + m_DataFlow = m_pFilter->GetPinProperty(PinId, KSPROPERTY_PIN_DATAFLOW); + + // Interfaces + m_pFilter->GetPinPropertyMulti( + PinId, + KSPROPSETID_Pin, + KSPROPERTY_PIN_INTERFACES, + &m_pmiInterfaces); + + m_cInterfaces = m_pmiInterfaces->Count; + m_pInterfaces = (PKSPIN_INTERFACE)(m_pmiInterfaces + 1); + + // Mediums + m_pFilter->GetPinPropertyMulti( + PinId, + KSPROPSETID_Pin, + KSPROPERTY_PIN_MEDIUMS, + &m_pmiMediums); + + m_cMediums = m_pmiMediums->Count; + m_pMediums = (PKSPIN_MEDIUM)(m_pmiMediums + 1); + + // Data ranges + m_pFilter->GetPinPropertyMulti( + PinId, + KSPROPSETID_Pin, + KSPROPERTY_PIN_DATARANGES, + &m_pmiDataRanges); + + m_cDataRanges = m_pmiDataRanges->Count; + m_pDataRanges = (PKSDATARANGE)(m_pmiDataRanges + 1); +} + +CKsPin::~CKsPin() +{ + ClosePin(); + + delete[] (BYTE*)m_pKsPinConnect; + delete[] (BYTE*)m_pmiDataRanges; + delete[] (BYTE*)m_pmiInterfaces; + delete[] (BYTE*)m_pmiMediums; +} + +void CKsPin::ClosePin() +{ + if (IsValid(m_handle)) { + SetState(KSSTATE_STOP); + ::CloseHandle(m_handle); + } + m_handle = INVALID_HANDLE_VALUE; +} + +void CKsPin::SetState(KSSTATE ksState) +{ + SetProperty(KSPROPSETID_Connection, KSPROPERTY_CONNECTION_STATE, &ksState, sizeof(ksState)); +} + +void CKsPin::Instantiate() +{ + if (!m_pKsPinConnect) + { + printf("CKsPin::Instanciate: abstract pin"); + assert(0); + } + DWORD const dwResult = KsCreatePin(m_pFilter->m_handle, m_pKsPinConnect, GENERIC_WRITE | GENERIC_READ, &m_handle); + if (dwResult != ERROR_SUCCESS) + throw ComException("CKsMidiCapFilter::CreateRenderPin: Pin instanciation failed", HRESULT_FROM_WIN32(dwResult)); +} + +void CKsPin::WriteData(KSSTREAM_HEADER* pKSSTREAM_HEADER, OVERLAPPED* pOVERLAPPED) +{ + DWORD cbWritten; + BOOL fRes = ::DeviceIoControl( + m_handle, + IOCTL_KS_WRITE_STREAM, + NULL, + 0, + pKSSTREAM_HEADER, + pKSSTREAM_HEADER->Size, + &cbWritten, + pOVERLAPPED); + if (!fRes) { + DWORD const dwError = GetLastError(); + if (dwError != ERROR_IO_PENDING) + throw ComException("CKsPin::WriteData: DeviceIoControl failed", HRESULT_FROM_WIN32(dwError)); + } +} + +void CKsPin::ReadData(KSSTREAM_HEADER* pKSSTREAM_HEADER, OVERLAPPED* pOVERLAPPED) +{ + DWORD cbReturned; + BOOL fRes = ::DeviceIoControl( + m_handle, + IOCTL_KS_READ_STREAM, + NULL, + 0, + pKSSTREAM_HEADER, + pKSSTREAM_HEADER->Size, + &cbReturned, + pOVERLAPPED); + if (!fRes) { + DWORD const dwError = GetLastError(); + if (dwError != ERROR_IO_PENDING) + throw ComException("CKsPin::ReadData: DeviceIoControl failed", HRESULT_FROM_WIN32(dwError)); + } +} + +class CKsMidiFilter : public CKsFilter +{ +public: + void FindMidiPins(); + +protected: + CKsMidiFilter(tstring const& sPath, std::string const& sFriendlyName); +}; + +class CKsMidiPin : public CKsPin +{ +public: + CKsMidiPin(CKsFilter* pFilter, ULONG nId); +}; + +class CKsMidiRenFilter : public CKsMidiFilter +{ +public: + CKsMidiRenFilter(tstring const& sPath, std::string const& sFriendlyName); + CKsMidiPin* CreateRenderPin(); + + void Validate() + { + if (m_RenderPins.empty()) + { + printf("Could not find a MIDI render pin"); + assert(0); + } + } +}; + +class CKsMidiCapFilter : public CKsMidiFilter +{ +public: + CKsMidiCapFilter(tstring const& sPath, std::string const& sFriendlyName); + CKsMidiPin* CreateCapturePin(); + + void Validate() + { + if (m_CapturePins.empty()) + { + assert(0); + printf("Could not find a MIDI capture pin"); + } + } +}; + +CKsMidiFilter::CKsMidiFilter(tstring const& sPath, std::string const& sFriendlyName) : + CKsFilter(sPath, sFriendlyName) +{ +} + +void CKsMidiFilter::FindMidiPins() +{ + ULONG numPins = GetPinProperty(0, KSPROPERTY_PIN_CTYPES); + + for (ULONG iPin = 0; iPin < numPins; ++iPin) { + { + KSPIN_COMMUNICATION com = GetPinProperty(iPin, KSPROPERTY_PIN_COMMUNICATION); + if (com != KSPIN_COMMUNICATION_SINK && com != KSPIN_COMMUNICATION_BOTH) + { + printf("Unknown pin communication value"); + assert(0); + } + + m_Pins.push_back(new CKsMidiPin(this, iPin)); + } + + } + + m_RenderPins.clear(); + m_CapturePins.clear(); + + for (size_t i = 0; i < m_Pins.size(); ++i) { + CKsPin* const pPin = m_Pins[i]; + + if (pPin->IsSink()) { + if (pPin->GetDataFlow() == KSPIN_DATAFLOW_IN) + m_RenderPins.push_back(pPin); + else + m_CapturePins.push_back(pPin); + } + } + + if (m_RenderPins.empty() && m_CapturePins.empty()) + { + printf("No valid pins found on the filter."); + assert(0); + + } +} + +CKsMidiRenFilter::CKsMidiRenFilter(tstring const& sPath, std::string const& sFriendlyName) : + CKsMidiFilter(sPath, sFriendlyName) +{ +} + +CKsMidiPin* CKsMidiRenFilter::CreateRenderPin() +{ + if (m_RenderPins.empty()) + { + printf("Could not find a MIDI render pin"); + assert(0); + } + + CKsMidiPin* pPin = (CKsMidiPin*)m_RenderPins[0]; + pPin->Instantiate(); + return pPin; +} + +CKsMidiCapFilter::CKsMidiCapFilter(tstring const& sPath, std::string const& sFriendlyName) : + CKsMidiFilter(sPath, sFriendlyName) +{ +} + +CKsMidiPin* CKsMidiCapFilter::CreateCapturePin() +{ + if (m_CapturePins.empty()) + { + printf("Could not find a MIDI capture pin"); + assert(0); + } + CKsMidiPin* pPin = (CKsMidiPin*)m_CapturePins[0]; + pPin->Instantiate(); + return pPin; +} + +CKsMidiPin::CKsMidiPin(CKsFilter* pFilter, ULONG nId) : + CKsPin(pFilter, nId) +{ + DWORD const cbPinCreateSize = sizeof(KSPIN_CONNECT) + sizeof(KSDATAFORMAT); + m_pKsPinConnect = (PKSPIN_CONNECT) new BYTE[cbPinCreateSize]; + + m_pKsPinConnect->Interface.Set = KSINTERFACESETID_Standard; + m_pKsPinConnect->Interface.Id = KSINTERFACE_STANDARD_STREAMING; + m_pKsPinConnect->Interface.Flags = 0; + m_pKsPinConnect->Medium.Set = KSMEDIUMSETID_Standard; + m_pKsPinConnect->Medium.Id = KSMEDIUM_TYPE_ANYINSTANCE; + m_pKsPinConnect->Medium.Flags = 0; + m_pKsPinConnect->PinId = nId; + m_pKsPinConnect->PinToHandle = NULL; + m_pKsPinConnect->Priority.PriorityClass = KSPRIORITY_NORMAL; + m_pKsPinConnect->Priority.PrioritySubClass = 1; + + // point m_pDataFormat to just after the pConnect struct + KSDATAFORMAT* m_pDataFormat = (KSDATAFORMAT*)(m_pKsPinConnect + 1); + m_pDataFormat->FormatSize = sizeof(KSDATAFORMAT); + m_pDataFormat->Flags = 0; + m_pDataFormat->SampleSize = 0; + m_pDataFormat->Reserved = 0; + m_pDataFormat->MajorFormat = GUID(KSDATAFORMAT_TYPE_MUSIC); + m_pDataFormat->SubFormat = GUID(KSDATAFORMAT_SUBTYPE_MIDI); + m_pDataFormat->Specifier = GUID(KSDATAFORMAT_SPECIFIER_NONE); + + bool hasStdStreamingInterface = false; + bool hasStdStreamingMedium = false; + + for ( ULONG i = 0; i < m_cInterfaces; i++ ) { + if (m_pInterfaces[i].Set == KSINTERFACESETID_Standard + && m_pInterfaces[i].Id == KSINTERFACE_STANDARD_STREAMING) + hasStdStreamingInterface = true; + } + + for (ULONG i = 0; i < m_cMediums; i++) { + if (m_pMediums[i].Set == KSMEDIUMSETID_Standard + && m_pMediums[i].Id == KSMEDIUM_STANDARD_DEVIO) + hasStdStreamingMedium = true; + } + + if (!hasStdStreamingInterface) // No standard streaming interfaces on the pin + { + printf("CKsMidiPin::CKsMidiPin: no standard streaming interface"); + assert(0); + } + + if (!hasStdStreamingMedium) // No standard streaming mediums on the pin + { + printf("CKsMidiPin::CKsMidiPin: no standard streaming medium") + assert(0); + }; + + bool hasMidiDataRange = false; + + BYTE const* pDataRangePtr = reinterpret_cast(m_pDataRanges); + + for (ULONG i = 0; i < m_cDataRanges; ++i) { + KSDATARANGE const* pDataRange = reinterpret_cast(pDataRangePtr); + + if (pDataRange->SubFormat == KSDATAFORMAT_SUBTYPE_MIDI) { + hasMidiDataRange = true; + break; + } + + pDataRangePtr += pDataRange->FormatSize; + } + + if (!hasMidiDataRange) // No MIDI dataranges on the pin + { + printf("CKsMidiPin::CKsMidiPin: no MIDI datarange"); + assert(0); + } +} + + +struct WindowsKsData +{ + WindowsKsData() : m_pPin(NULL), m_Buffer(1024), m_hInputThread(NULL) + { + memset(&overlapped, 0, sizeof(OVERLAPPED)); + m_hExitEvent = ::CreateEvent(NULL, FALSE, FALSE, NULL); + overlapped.hEvent = ::CreateEvent(NULL, FALSE, FALSE, NULL); + m_hInputThread = NULL; + } + + ~WindowsKsData() + { + ::CloseHandle(overlapped.hEvent); + ::CloseHandle(m_hExitEvent); + } + + OVERLAPPED overlapped; + CKsPin* m_pPin; + std::vector m_Buffer; + std::auto_ptr > m_pCaptureEnum; + std::auto_ptr > m_pRenderEnum; + HANDLE m_hInputThread; + HANDLE m_hExitEvent; +}; + +// *********************************************************************// +// API: WINDOWS Kernel Streaming +// Class Definitions: MidiInWinKS +// *********************************************************************// + +DWORD WINAPI midiKsInputThread(VOID* pUser) +{ + MidiInApi::RtMidiInData* data = static_cast(pUser); + WindowsKsData* apiData = static_cast(data->apiData); + + HANDLE hEvents[] = { apiData->overlapped.hEvent, apiData->m_hExitEvent }; + + while ( true ) { + KSSTREAM_HEADER packet; + memset(&packet, 0, sizeof packet); + packet.Size = sizeof(KSSTREAM_HEADER); + packet.PresentationTime.Time = 0; + packet.PresentationTime.Numerator = 1; + packet.PresentationTime.Denominator = 1; + packet.Data = &apiData->m_Buffer[0]; + packet.DataUsed = 0; + packet.FrameExtent = apiData->m_Buffer.size(); + apiData->m_pPin->ReadData(&packet, &apiData->overlapped); + + DWORD dwRet = ::WaitForMultipleObjects(2, hEvents, FALSE, INFINITE); + + if ( dwRet == WAIT_OBJECT_0 ) { + // parse packet + unsigned char* pData = (unsigned char*)packet.Data; + unsigned int iOffset = 0; + + while ( iOffset < packet.DataUsed ) { + KSMUSICFORMAT* pMusic = (KSMUSICFORMAT*)&pData[iOffset]; + iOffset += sizeof(KSMUSICFORMAT); + + MidiInApi::MidiMessage message; + message.timeStamp = 0; + for(size_t i=0;i < pMusic->ByteCount;++i) + message.bytes.push_back(pData[iOffset+i]); + + if ( data->usingCallback ) { + RtMidiIn::RtMidiCallback callback = (RtMidiIn::RtMidiCallback)data->userCallback; + callback(message.timeStamp, &message.bytes, data->userData); + } + else { + // As long as we haven't reached our queue size limit, push the message. + if ( data->queue.size < data->queue.ringSize ) { + data->queue.ring[data->queue.back++] = message; + if(data->queue.back == data->queue.ringSize) + data->queue.back = 0; + data->queue.size++; + } + else + std::cerr << "\nRtMidiIn: message queue limit reached!!\n\n"; + } + + iOffset += pMusic->ByteCount; + + // re-align on 32 bits + if ( iOffset % 4 != 0 ) + iOffset += (4 - iOffset % 4); + } + } + else + break; + } + return 0; +} + +MidiInWinKS :: MidiInWinKS( const std::string clientName, unsigned int queueSizeLimit ) : MidiInApi( queueSizeLimit ) +{ + initialize( clientName ); +} + +void MidiInWinKS :: initialize( const std::string& clientName ) +{ + WindowsKsData* data = new WindowsKsData; + apiData_ = (void*)data; + inputData_.apiData = data; + + GUID const aguidEnumCats[] = + { + { STATIC_KSCATEGORY_AUDIO }, { STATIC_KSCATEGORY_CAPTURE } + }; + data->m_pCaptureEnum.reset(new CKsEnumFilters ); + data->m_pCaptureEnum->EnumFilters(aguidEnumCats, 2); +} + +MidiInWinKS :: ~MidiInWinKS() +{ + WindowsKsData* data = static_cast(apiData_); + { + if ( data->m_pPin ) + closePort(); + } + + delete data; +} + +void MidiInWinKS :: openPort( unsigned int portNumber, const std::string portName ) +{ + WindowsKsData* data = static_cast(apiData_); + + if ( portNumber < 0 || portNumber >= data->m_pCaptureEnum->m_Filters.size() ) { + std::stringstream ost; + ost << "MidiInWinKS::openPort: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + CKsMidiCapFilter* pFilter = data->m_pCaptureEnum->m_Filters[portNumber]; + data->m_pPin = pFilter->CreateCapturePin(); + + if ( data->m_pPin == NULL ) { + std::stringstream ost; + ost << "MidiInWinKS::openPort: KS error opening port (could not create pin)"; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + data->m_pPin->SetState(KSSTATE_RUN); + + DWORD threadId; + data->m_hInputThread = ::CreateThread(NULL, 0, &midiKsInputThread, &inputData_, 0, &threadId); + if ( data->m_hInputThread == NULL ) { + std::stringstream ost; + ost << "MidiInWinKS::initialize: Could not create input thread : Windows error " << GetLastError() << std::endl;; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + connected_ = true; +} + +void MidiInWinKS :: openVirtualPort( const std::string portName ) +{ + // This function cannot be implemented for the Windows KS MIDI API. + errorString_ = "MidiInWinKS::openVirtualPort: cannot be implemented in Windows KS MIDI API!"; + RtMidi::error( RtError::WARNING, errorString_ ); +} + +unsigned int MidiInWinKS :: getPortCount() +{ + WindowsKsData* data = static_cast(apiData_); + return (unsigned int)data->m_pCaptureEnum->m_Filters.size(); +} + +std::string MidiInWinKS :: getPortName(unsigned int portNumber) +{ + WindowsKsData* data = static_cast(apiData_); + + if(portNumber < 0 || portNumber >= data->m_pCaptureEnum->m_Filters.size()) { + std::stringstream ost; + ost << "MidiInWinKS::getPortName: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + CKsMidiCapFilter* pFilter = data->m_pCaptureEnum->m_Filters[portNumber]; + return pFilter->GetFriendlyName(); +} + +void MidiInWinKS :: closePort() +{ + WindowsKsData* data = static_cast(apiData_); + connected_ = false; + + if(data->m_hInputThread) { + ::SignalObjectAndWait(data->m_hExitEvent, data->m_hInputThread, INFINITE, FALSE); + ::CloseHandle(data->m_hInputThread); + } + + if(data->m_pPin) { + data->m_pPin->SetState(KSSTATE_PAUSE); + data->m_pPin->SetState(KSSTATE_STOP); + data->m_pPin->ClosePin(); + data->m_pPin = NULL; + } +} + +// *********************************************************************// +// API: WINDOWS Kernel Streaming +// Class Definitions: MidiOutWinKS +// *********************************************************************// + +MidiOutWinKS :: MidiOutWinKS( const std::string clientName ) : MidiOutApi() +{ + initialize( clientName ); +} + +void MidiOutWinKS :: initialize( const std::string& clientName ) +{ + WindowsKsData* data = new WindowsKsData; + + data->m_pPin = NULL; + data->m_pRenderEnum.reset(new CKsEnumFilters ); + GUID const aguidEnumCats[] = + { + { STATIC_KSCATEGORY_AUDIO }, { STATIC_KSCATEGORY_RENDER } + }; + data->m_pRenderEnum->EnumFilters(aguidEnumCats, 2); + + apiData_ = (void*)data; +} + +MidiOutWinKS :: ~MidiOutWinKS() +{ + // Close a connection if it exists. + closePort(); + + // Cleanup. + WindowsKsData* data = static_cast(apiData_); + delete data; +} + +void MidiOutWinKS :: openPort( unsigned int portNumber, const std::string portName ) +{ + WindowsKsData* data = static_cast(apiData_); + + if(portNumber < 0 || portNumber >= data->m_pRenderEnum->m_Filters.size()) { + std::stringstream ost; + ost << "MidiOutWinKS::openPort: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + CKsMidiRenFilter* pFilter = data->m_pRenderEnum->m_Filters[portNumber]; + data->m_pPin = pFilter->CreateRenderPin(); + + if(data->m_pPin == NULL) { + std::stringstream ost; + ost << "MidiOutWinKS::openPort: KS error opening port (could not create pin)"; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + data->m_pPin->SetState(KSSTATE_RUN); + connected_ = true; +} + +void MidiOutWinKS :: openVirtualPort( const std::string portName ) +{ + // This function cannot be implemented for the Windows KS MIDI API. + errorString_ = "MidiOutWinKS::openVirtualPort: cannot be implemented in Windows KS MIDI API!"; + RtMidi::error( RtError::WARNING, errorString_ ); +} + +unsigned int MidiOutWinKS :: getPortCount() +{ + WindowsKsData* data = static_cast(apiData_); + + return (unsigned int)data->m_pRenderEnum->m_Filters.size(); +} + +std::string MidiOutWinKS :: getPortName( unsigned int portNumber ) +{ + WindowsKsData* data = static_cast(apiData_); + + if ( portNumber < 0 || portNumber >= data->m_pRenderEnum->m_Filters.size() ) { + std::stringstream ost; + ost << "MidiOutWinKS::getPortName: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + CKsMidiRenFilter* pFilter = data->m_pRenderEnum->m_Filters[portNumber]; + return pFilter->GetFriendlyName(); +} + +void MidiOutWinKS :: closePort() +{ + WindowsKsData* data = static_cast(apiData_); + connected_ = false; + + if ( data->m_pPin ) { + data->m_pPin->SetState(KSSTATE_PAUSE); + data->m_pPin->SetState(KSSTATE_STOP); + data->m_pPin->ClosePin(); + data->m_pPin = NULL; + } +} + +void MidiOutWinKS :: sendMessage(std::vector* pMessage) +{ + std::vector const& msg = *pMessage; + WindowsKsData* data = static_cast(apiData_); + size_t iNumMidiBytes = msg.size(); + size_t pos = 0; + + // write header + KSMUSICFORMAT* pKsMusicFormat = reinterpret_cast(&data->m_Buffer[pos]); + pKsMusicFormat->TimeDeltaMs = 0; + pKsMusicFormat->ByteCount = iNumMidiBytes; + pos += sizeof(KSMUSICFORMAT); + + // write MIDI bytes + if ( pos + iNumMidiBytes > data->m_Buffer.size() ) { + std::stringstream ost; + ost << "KsMidiInput::Write: MIDI buffer too small. Required " << pos + iNumMidiBytes << " bytes, only has " << data->m_Buffer.size(); + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + if ( data->m_pPin == NULL ) { + std::stringstream ost; + ost << "MidiOutWinKS::sendMessage: port is not open"; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + + memcpy(&data->m_Buffer[pos], &msg[0], iNumMidiBytes); + pos += iNumMidiBytes; + + KSSTREAM_HEADER packet; + memset(&packet, 0, sizeof packet); + packet.Size = sizeof(packet); + packet.PresentationTime.Time = 0; + packet.PresentationTime.Numerator = 1; + packet.PresentationTime.Denominator = 1; + packet.Data = const_cast(&data->m_Buffer[0]); + packet.DataUsed = ((pos+3)/4)*4; + packet.FrameExtent = data->m_Buffer.size(); + + data->m_pPin->WriteData(&packet, NULL); +} + +#endif // __WINDOWS_KS__ + +//*********************************************************************// +// API: UNIX JACK +// +// Written primarily by Alexander Svetalkin, with updates for delta +// time by Gary Scavone, April 2011. +// +// *********************************************************************// + +#if defined(__UNIX_JACK__) + +// JACK header files +#include +#include +#include + +#define JACK_RINGBUFFER_SIZE 16384 // Default size for ringbuffer + +struct JackMidiData { + jack_client_t *client; + jack_port_t *port; + jack_ringbuffer_t *buffSize; + jack_ringbuffer_t *buffMessage; + jack_time_t lastTime; + MidiInApi :: RtMidiInData *rtMidiIn; + }; + +//*********************************************************************// +// API: JACK +// Class Definitions: MidiInJack +//*********************************************************************// + +int jackProcessIn( jack_nframes_t nframes, void *arg ) +{ + JackMidiData *jData = (JackMidiData *) arg; + MidiInApi :: RtMidiInData *rtData = jData->rtMidiIn; + jack_midi_event_t event; + jack_time_t long long time; + + // Is port created? + if ( jData->port == NULL ) return 0; + void *buff = jack_port_get_buffer( jData->port, nframes ); + + // We have midi events in buffer + int evCount = jack_midi_get_event_count( buff ); + if ( evCount > 0 ) { + MidiInApi::MidiMessage message; + message.bytes.clear(); + + jack_midi_event_get( &event, buff, 0 ); + + for (unsigned int i = 0; i < event.size; i++ ) + message.bytes.push_back( event.buffer[i] ); + + // Compute the delta time. + time = jack_get_time(); + if ( rtData->firstMessage == true ) + rtData->firstMessage = false; + else + message.timeStamp = ( time - jData->lastTime ) * 0.000001; + + jData->lastTime = time; + + if ( !rtData->continueSysex ) { + if ( rtData->usingCallback ) { + RtMidiIn::RtMidiCallback callback = (RtMidiIn::RtMidiCallback) rtData->userCallback; + callback( message.timeStamp, &message.bytes, rtData->userData ); + } + else { + // As long as we haven't reached our queue size limit, push the message. + if ( rtData->queue.size < rtData->queue.ringSize ) { + rtData->queue.ring[rtData->queue.back++] = message; + if ( rtData->queue.back == rtData->queue.ringSize ) + rtData->queue.back = 0; + rtData->queue.size++; + } + else + std::cerr << "\nMidiInJack: message queue limit reached!!\n\n"; + } + } + } + + return 0; +} + +MidiInJack :: MidiInJack( const std::string clientName, unsigned int queueSizeLimit ) : MidiInApi( queueSizeLimit ) +{ + initialize( clientName ); +} + +void MidiInJack :: initialize( const std::string& clientName ) +{ + JackMidiData *data = new JackMidiData; + apiData_ = (void *) data; + + // Initialize JACK client + if (( data->client = jack_client_open( clientName.c_str(), JackNullOption, NULL )) == 0) { + errorString_ = "MidiInJack::initialize: JACK server not running?"; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + return; + } + + data->rtMidiIn = &inputData_; + data->port = NULL; + + jack_set_process_callback( data->client, jackProcessIn, data ); + jack_activate( data->client ); +} + +MidiInJack :: ~MidiInJack() +{ + JackMidiData *data = static_cast (apiData_); + closePort(); + + jack_client_close( data->client ); +} + +void MidiInJack :: openPort( unsigned int portNumber, const std::string portName ) +{ + JackMidiData *data = static_cast (apiData_); + + // Creating new port + if ( data->port == NULL) + data->port = jack_port_register( data->client, portName.c_str(), + JACK_DEFAULT_MIDI_TYPE, JackPortIsInput, 0 ); + + if ( data->port == NULL) { + errorString_ = "MidiInJack::openVirtualPort: JACK error creating virtual port"; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Connecting to the output + std::string name = getPortName( portNumber ); + jack_connect( data->client, name.c_str(), jack_port_name( data->port ) ); +} + +void MidiInJack :: openVirtualPort( const std::string portName ) +{ + JackMidiData *data = static_cast (apiData_); + + if ( data->port == NULL ) + data->port = jack_port_register( data->client, portName.c_str(), + JACK_DEFAULT_MIDI_TYPE, JackPortIsInput, 0 ); + + if ( data->port == NULL ) { + errorString_ = "MidiInJack::openVirtualPort: JACK error creating virtual port"; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } +} + +unsigned int MidiInJack :: getPortCount() +{ + int count = 0; + JackMidiData *data = static_cast (apiData_); + + // List of available ports + const char **ports = jack_get_ports( data->client, NULL, JACK_DEFAULT_MIDI_TYPE, JackPortIsOutput ); + + if ( ports == NULL ) return 0; + while ( ports[count] != NULL ) + count++; + + free( ports ); + + return count; +} + +std::string MidiInJack :: getPortName( unsigned int portNumber ) +{ + JackMidiData *data = static_cast (apiData_); + std::ostringstream ost; + std::string retStr(""); + + // List of available ports + const char **ports = jack_get_ports( data->client, NULL, + JACK_DEFAULT_MIDI_TYPE, JackPortIsOutput ); + + // Check port validity + if ( ports == NULL ) { + errorString_ = "MidiInJack::getPortName: no ports available!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return retStr; + } + + if ( ports[portNumber] == NULL ) { + ost << "MidiInJack::getPortName: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + else retStr.assign( ports[portNumber] ); + + free( ports ); + + return retStr; +} + +void MidiInJack :: closePort() +{ + JackMidiData *data = static_cast (apiData_); + + if ( data->port == NULL ) return; + jack_port_unregister( data->client, data->port ); + data->port = NULL; +} + +//*********************************************************************// +// API: JACK +// Class Definitions: MidiOutJack +//*********************************************************************// + +// Jack process callback +int jackProcessOut( jack_nframes_t nframes, void *arg ) +{ + JackMidiData *data = (JackMidiData *) arg; + jack_midi_data_t *midiData; + int space; + + // Is port created? + if ( data->port == NULL ) return 0; + + void *buff = jack_port_get_buffer( data->port, nframes ); + jack_midi_clear_buffer( buff ); + + while ( jack_ringbuffer_read_space( data->buffSize ) > 0 ) { + jack_ringbuffer_read( data->buffSize, (char *) &space, (size_t) sizeof(space) ); + midiData = jack_midi_event_reserve( buff, 0, space ); + + jack_ringbuffer_read( data->buffMessage, (char *) midiData, (size_t) space ); + } + + return 0; +} + +MidiOutJack :: MidiOutJack( const std::string clientName ) : MidiOutApi() +{ + initialize( clientName ); +} + +void MidiOutJack :: initialize( const std::string& clientName ) +{ + JackMidiData *data = new JackMidiData; + + data->port = NULL; + + // Initialize JACK client + if (( data->client = jack_client_open( clientName.c_str(), JackNullOption, NULL )) == 0) { + errorString_ = "MidiOutJack::initialize: JACK server not running?"; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + return; + } + + jack_set_process_callback( data->client, jackProcessOut, data ); + data->buffSize = jack_ringbuffer_create( JACK_RINGBUFFER_SIZE ); + data->buffMessage = jack_ringbuffer_create( JACK_RINGBUFFER_SIZE ); + jack_activate( data->client ); + + apiData_ = (void *) data; +} + +MidiOutJack :: ~MidiOutJack() +{ + JackMidiData *data = static_cast (apiData_); + closePort(); + + // Cleanup + jack_client_close( data->client ); + jack_ringbuffer_free( data->buffSize ); + jack_ringbuffer_free( data->buffMessage ); + + delete data; +} + +void MidiOutJack :: openPort( unsigned int portNumber, const std::string portName ) +{ + JackMidiData *data = static_cast (apiData_); + + // Creating new port + if ( data->port == NULL ) + data->port = jack_port_register( data->client, portName.c_str(), + JACK_DEFAULT_MIDI_TYPE, JackPortIsOutput, 0 ); + + if ( data->port == NULL ) { + errorString_ = "MidiOutJack::openVirtualPort: JACK error creating virtual port"; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } + + // Connecting to the output + std::string name = getPortName( portNumber ); + jack_connect( data->client, jack_port_name( data->port ), name.c_str() ); +} + +void MidiOutJack :: openVirtualPort( const std::string portName ) +{ + JackMidiData *data = static_cast (apiData_); + + if ( data->port == NULL ) + data->port = jack_port_register( data->client, portName.c_str(), + JACK_DEFAULT_MIDI_TYPE, JackPortIsOutput, 0 ); + + if ( data->port == NULL ) { + errorString_ = "MidiOutJack::openVirtualPort: JACK error creating virtual port"; + RtMidi::error( RtError::DRIVER_ERROR, errorString_ ); + } +} + +unsigned int MidiOutJack :: getPortCount() +{ + int count = 0; + JackMidiData *data = static_cast (apiData_); + + // List of available ports + const char **ports = jack_get_ports( data->client, NULL, + JACK_DEFAULT_MIDI_TYPE, JackPortIsInput ); + + if ( ports == NULL ) return 0; + while ( ports[count] != NULL ) + count++; + + free( ports ); + + return count; +} + +std::string MidiOutJack :: getPortName( unsigned int portNumber ) +{ + JackMidiData *data = static_cast (apiData_); + std::ostringstream ost; + std::string retStr(""); + + // List of available ports + const char **ports = jack_get_ports( data->client, NULL, + JACK_DEFAULT_MIDI_TYPE, JackPortIsInput ); + + // Check port validity + if ( ports == NULL) { + errorString_ = "MidiOutJack::getPortName: no ports available!"; + RtMidi::error( RtError::WARNING, errorString_ ); + return retStr; + } + + if ( ports[portNumber] == NULL) { + ost << "MidiOutJack::getPortName: the 'portNumber' argument (" << portNumber << ") is invalid."; + errorString_ = ost.str(); + RtMidi::error( RtError::WARNING, errorString_ ); + } + else retStr.assign( ports[portNumber] ); + + free( ports ); + + return retStr; +} + +void MidiOutJack :: closePort() +{ + JackMidiData *data = static_cast (apiData_); + + if ( data->port == NULL ) return; + jack_port_unregister( data->client, data->port ); + data->port = NULL; +} + +void MidiOutJack :: sendMessage( std::vector *message ) +{ + int nBytes = message->size(); + JackMidiData *data = static_cast (apiData_); + + // Write full message to buffer + jack_ringbuffer_write( data->buffMessage, ( const char * ) &( *message )[0], + message->size() ); + jack_ringbuffer_write( data->buffSize, ( char * ) &nBytes, sizeof( nBytes ) ); +} + +#endif // __UNIX_JACK__ \ No newline at end of file diff --git a/examples/ThirdPartyLibs/midi/RtMidi.h b/examples/ThirdPartyLibs/midi/RtMidi.h new file mode 100644 index 000000000..66eb4fc3c --- /dev/null +++ b/examples/ThirdPartyLibs/midi/RtMidi.h @@ -0,0 +1,675 @@ +/**********************************************************************/ +/*! \class RtMidi + \brief An abstract base class for realtime MIDI input/output. + + This class implements some common functionality for the realtime + MIDI input/output subclasses RtMidiIn and RtMidiOut. + + RtMidi WWW site: http://music.mcgill.ca/~gary/rtmidi/ + + RtMidi: realtime MIDI i/o C++ classes + Copyright (c) 2003-2012 Gary P. Scavone + + Permission is hereby granted, free of charge, to any person + obtaining a copy of this software and associated documentation files + (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, + publish, distribute, sublicense, and/or sell copies of the Software, + and to permit persons to whom the Software is furnished to do so, + subject to the following conditions: + + The above copyright notice and this permission notice shall be + included in all copies or substantial portions of the Software. + + Any person wishing to distribute modifications to the Software is + asked to send the modifications to the original developer so that + they can be incorporated into the canonical version. This is, + however, not a binding provision of this license. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR + ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF + CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION + WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. +*/ +/**********************************************************************/ + +/*! + \file RtMidi.h + */ + +// RtMidi: Version 2.0.1 + +#ifndef RTMIDI_H +#define RTMIDI_H + +#include "RtError.h" +#include +#include + +class RtMidi +{ + public: + + //! MIDI API specifier arguments. + enum Api { + UNSPECIFIED, /*!< Search for a working compiled API. */ + MACOSX_CORE, /*!< Macintosh OS-X Core Midi API. */ + LINUX_ALSA, /*!< The Advanced Linux Sound Architecture API. */ + UNIX_JACK, /*!< The Jack Low-Latency MIDI Server API. */ + WINDOWS_MM, /*!< The Microsoft Multimedia MIDI API. */ + WINDOWS_KS, /*!< The Microsoft Kernel Streaming MIDI API. */ + RTMIDI_DUMMY /*!< A compilable but non-functional API. */ + }; + + //! A static function to determine the available compiled MIDI APIs. + /*! + The values returned in the std::vector can be compared against + the enumerated list values. Note that there can be more than one + API compiled for certain operating systems. + */ + static void getCompiledApi( std::vector &apis ); + + //! Pure virtual openPort() function. + virtual void openPort( unsigned int portNumber = 0, const std::string portName = std::string( "RtMidi" ) ) = 0; + + //! Pure virtual openVirtualPort() function. + virtual void openVirtualPort( const std::string portName = std::string( "RtMidi" ) ) = 0; + + //! Pure virtual getPortCount() function. + virtual unsigned int getPortCount() = 0; + + //! Pure virtual getPortName() function. + virtual std::string getPortName( unsigned int portNumber = 0 ) = 0; + + //! Pure virtual closePort() function. + virtual void closePort( void ) = 0; + + //! A basic error reporting function for RtMidi classes. + static void error( RtError::Type type, std::string errorString ); + + protected: + + RtMidi() {}; + virtual ~RtMidi() {}; +}; + +/**********************************************************************/ +/*! \class RtMidiIn + \brief A realtime MIDI input class. + + This class provides a common, platform-independent API for + realtime MIDI input. It allows access to a single MIDI input + port. Incoming MIDI messages are either saved to a queue for + retrieval using the getMessage() function or immediately passed to + a user-specified callback function. Create multiple instances of + this class to connect to more than one MIDI device at the same + time. With the OS-X and Linux ALSA MIDI APIs, it is also possible + to open a virtual input port to which other MIDI software clients + can connect. + + by Gary P. Scavone, 2003-2012. +*/ +/**********************************************************************/ + +// **************************************************************** // +// +// RtMidiIn and RtMidiOut class declarations. +// +// RtMidiIn / RtMidiOut are "controllers" used to select an available +// MIDI input or output interface. They present common APIs for the +// user to call but all functionality is implemented by the classes +// MidiInApi, MidiOutApi and their subclasses. RtMidiIn and RtMidiOut +// each create an instance of a MidiInApi or MidiOutApi subclass based +// on the user's API choice. If no choice is made, they attempt to +// make a "logical" API selection. +// +// **************************************************************** // + +class MidiInApi; +class MidiOutApi; + +class RtMidiIn : public RtMidi +{ + public: + + //! User callback function type definition. + typedef void (*RtMidiCallback)( double timeStamp, std::vector *message, void *userData); + + //! Default constructor that allows an optional api, client name and queue size. + /*! + An assert will be fired if a MIDI system initialization + error occurs. The queue size defines the maximum number of + messages that can be held in the MIDI queue (when not using a + callback function). If the queue size limit is reached, + incoming messages will be ignored. + + If no API argument is specified and multiple API support has been + compiled, the default order of use is JACK, ALSA (Linux) and CORE, + Jack (OS-X). + */ + RtMidiIn( RtMidi::Api api=UNSPECIFIED, + const std::string clientName = std::string( "RtMidi Input Client"), + unsigned int queueSizeLimit = 100 ); + + //! If a MIDI connection is still open, it will be closed by the destructor. + ~RtMidiIn ( void ); + + //! Returns the MIDI API specifier for the current instance of RtMidiIn. + RtMidi::Api getCurrentApi( void ); + + //! Open a MIDI input connection. + /*! + An optional port number greater than 0 can be specified. + Otherwise, the default or first port found is opened. + */ + void openPort( unsigned int portNumber = 0, const std::string portName = std::string( "RtMidi Input" ) ); + + //! Create a virtual input port, with optional name, to allow software connections (OS X and ALSA only). + /*! + This function creates a virtual MIDI input port to which other + software applications can connect. This type of functionality + is currently only supported by the Macintosh OS-X and Linux ALSA + APIs (the function does nothing for the other APIs). + */ + void openVirtualPort( const std::string portName = std::string( "RtMidi Input" ) ); + + //! Set a callback function to be invoked for incoming MIDI messages. + /*! + The callback function will be called whenever an incoming MIDI + message is received. While not absolutely necessary, it is best + to set the callback function before opening a MIDI port to avoid + leaving some messages in the queue. + */ + void setCallback( RtMidiCallback callback, void *userData = 0 ); + + //! Cancel use of the current callback function (if one exists). + /*! + Subsequent incoming MIDI messages will be written to the queue + and can be retrieved with the \e getMessage function. + */ + void cancelCallback(); + + //! Close an open MIDI connection (if one exists). + void closePort( void ); + + //! Return the number of available MIDI input ports. + unsigned int getPortCount(); + + //! Return a string identifier for the specified MIDI input port number. + /*! + An empty string is returned if an invalid port specifier is provided. + */ + std::string getPortName( unsigned int portNumber = 0 ); + + //! Specify whether certain MIDI message types should be queued or ignored during input. + /*! + o By default, MIDI timing and active sensing messages are ignored + during message input because of their relative high data rates. + MIDI sysex messages are ignored by default as well. Variable + values of "true" imply that the respective message type will be + ignored. + */ + void ignoreTypes( bool midiSysex = true, bool midiTime = true, bool midiSense = true ); + + //! Fill the user-provided vector with the data bytes for the next available MIDI message in the input queue and return the event delta-time in seconds. + /*! + This function returns immediately whether a new message is + available or not. A valid message is indicated by a non-zero + vector size. An assert is fired if an error occurs during + message retrieval or an input connection was not previously + established. + */ + double getMessage( std::vector *message ); + + protected: + void openMidiApi( RtMidi::Api api, const std::string clientName, unsigned int queueSizeLimit ); + MidiInApi *rtapi_; + +}; + +/**********************************************************************/ +/*! \class RtMidiOut + \brief A realtime MIDI output class. + + This class provides a common, platform-independent API for MIDI + output. It allows one to probe available MIDI output ports, to + connect to one such port, and to send MIDI bytes immediately over + the connection. Create multiple instances of this class to + connect to more than one MIDI device at the same time. With the + OS-X and Linux ALSA MIDI APIs, it is also possible to open a + virtual port to which other MIDI software clients can connect. + + by Gary P. Scavone, 2003-2012. +*/ +/**********************************************************************/ + +class RtMidiOut : public RtMidi +{ + public: + + //! Default constructor that allows an optional client name. + /*! + An exception will be thrown if a MIDI system initialization error occurs. + + If no API argument is specified and multiple API support has been + compiled, the default order of use is JACK, ALSA (Linux) and CORE, + Jack (OS-X). + */ + RtMidiOut( RtMidi::Api api=UNSPECIFIED, + const std::string clientName = std::string( "RtMidi Output Client") ); + + //! The destructor closes any open MIDI connections. + ~RtMidiOut( void ); + + //! Returns the MIDI API specifier for the current instance of RtMidiOut. + RtMidi::Api getCurrentApi( void ); + + //! Open a MIDI output connection. + /*! + An optional port number greater than 0 can be specified. + Otherwise, the default or first port found is opened. An + exception is thrown if an error occurs while attempting to make + the port connection. + */ + void openPort( unsigned int portNumber = 0, const std::string portName = std::string( "RtMidi Output" ) ); + + //! Close an open MIDI connection (if one exists). + void closePort( void ); + + //! Create a virtual output port, with optional name, to allow software connections (OS X and ALSA only). + /*! + This function creates a virtual MIDI output port to which other + software applications can connect. This type of functionality + is currently only supported by the Macintosh OS-X and Linux ALSA + APIs (the function does nothing with the other APIs). An + exception is thrown if an error occurs while attempting to create + the virtual port. + */ + void openVirtualPort( const std::string portName = std::string( "RtMidi Output" ) ); + + //! Return the number of available MIDI output ports. + unsigned int getPortCount( void ); + + //! Return a string identifier for the specified MIDI port type and number. + /*! + An empty string is returned if an invalid port specifier is provided. + */ + std::string getPortName( unsigned int portNumber = 0 ); + + //! Immediately send a single message out an open MIDI output port. + /*! + An exception is thrown if an error occurs during output or an + output connection was not previously established. + */ + void sendMessage( std::vector *message ); + + protected: + void openMidiApi( RtMidi::Api api, const std::string clientName ); + MidiOutApi *rtapi_; +}; + + +// **************************************************************** // +// +// MidiInApi / MidiOutApi class declarations. +// +// Subclasses of MidiInApi and MidiOutApi contain all API- and +// OS-specific code necessary to fully implement the RtMidi API. +// +// Note that MidiInApi and MidiOutApi are abstract base classes and +// cannot be explicitly instantiated. RtMidiIn and RtMidiOut will +// create instances of a MidiInApi or MidiOutApi subclass. +// +// **************************************************************** // + +class MidiInApi +{ + public: + + MidiInApi( unsigned int queueSizeLimit ); + virtual ~MidiInApi( void ); + virtual RtMidi::Api getCurrentApi( void ) = 0; + virtual void openPort( unsigned int portNumber, const std::string portName ) = 0; + virtual void openVirtualPort( const std::string portName ) = 0; + virtual void closePort( void ) = 0; + void setCallback( RtMidiIn::RtMidiCallback callback, void *userData ); + void cancelCallback( void ); + virtual unsigned int getPortCount( void ) = 0; + virtual std::string getPortName( unsigned int portNumber ) = 0; + virtual void ignoreTypes( bool midiSysex, bool midiTime, bool midiSense ); + double getMessage( std::vector *message ); + + // A MIDI structure used internally by the class to store incoming + // messages. Each message represents one and only one MIDI message. + struct MidiMessage { + std::vector bytes; + double timeStamp; + + // Default constructor. + MidiMessage() + :bytes(0), timeStamp(0.0) {} + }; + + struct MidiQueue { + unsigned int front; + unsigned int back; + unsigned int size; + unsigned int ringSize; + MidiMessage *ring; + + // Default constructor. + MidiQueue() + :front(0), back(0), size(0), ringSize(0) {} + }; + + // The RtMidiInData structure is used to pass private class data to + // the MIDI input handling function or thread. + struct RtMidiInData { + MidiQueue queue; + MidiMessage message; + unsigned char ignoreFlags; + bool doInput; + bool firstMessage; + void *apiData; + bool usingCallback; + void *userCallback; + void *userData; + bool continueSysex; + + // Default constructor. + RtMidiInData() + : ignoreFlags(7), doInput(false), firstMessage(true), + apiData(0), usingCallback(false), userCallback(0), userData(0), + continueSysex(false) {} + }; + + protected: + virtual void initialize( const std::string& clientName ) = 0; + RtMidiInData inputData_; + + void *apiData_; + bool connected_; + std::string errorString_; +}; + +class MidiOutApi +{ + public: + + MidiOutApi( void ); + virtual ~MidiOutApi( void ); + virtual RtMidi::Api getCurrentApi( void ) = 0; + virtual void openPort( unsigned int portNumber, const std::string portName ) = 0; + virtual void openVirtualPort( const std::string portName ) = 0; + virtual void closePort( void ) = 0; + virtual unsigned int getPortCount( void ) = 0; + virtual std::string getPortName( unsigned int portNumber ) = 0; + virtual void sendMessage( std::vector *message ) = 0; + + protected: + virtual void initialize( const std::string& clientName ) = 0; + + void *apiData_; + bool connected_; + std::string errorString_; +}; + +// **************************************************************** // +// +// Inline RtMidiIn and RtMidiOut definitions. +// +// **************************************************************** // + +inline RtMidi::Api RtMidiIn :: getCurrentApi( void ) { return rtapi_->getCurrentApi(); } +inline void RtMidiIn :: openPort( unsigned int portNumber, const std::string portName ) { return rtapi_->openPort( portNumber, portName ); } +inline void RtMidiIn :: openVirtualPort( const std::string portName ) { return rtapi_->openVirtualPort( portName ); } +inline void RtMidiIn :: closePort( void ) { return rtapi_->closePort(); } +inline void RtMidiIn :: setCallback( RtMidiCallback callback, void *userData ) { return rtapi_->setCallback( callback, userData ); } +inline void RtMidiIn :: cancelCallback( void ) { return rtapi_->cancelCallback(); } +inline unsigned int RtMidiIn :: getPortCount( void ) { return rtapi_->getPortCount(); } +inline std::string RtMidiIn :: getPortName( unsigned int portNumber ) { return rtapi_->getPortName( portNumber ); } +inline void RtMidiIn :: ignoreTypes( bool midiSysex, bool midiTime, bool midiSense ) { return rtapi_->ignoreTypes( midiSysex, midiTime, midiSense ); } +inline double RtMidiIn :: getMessage( std::vector *message ) { return rtapi_->getMessage( message ); } + +inline RtMidi::Api RtMidiOut :: getCurrentApi( void ) { return rtapi_->getCurrentApi(); } +inline void RtMidiOut :: openPort( unsigned int portNumber, const std::string portName ) { return rtapi_->openPort( portNumber, portName ); } +inline void RtMidiOut :: openVirtualPort( const std::string portName ) { return rtapi_->openVirtualPort( portName ); } +inline void RtMidiOut :: closePort( void ) { return rtapi_->closePort(); } +inline unsigned int RtMidiOut :: getPortCount( void ) { return rtapi_->getPortCount(); } +inline std::string RtMidiOut :: getPortName( unsigned int portNumber ) { return rtapi_->getPortName( portNumber ); } +inline void RtMidiOut :: sendMessage( std::vector *message ) { return rtapi_->sendMessage( message ); } + +// **************************************************************** // +// +// MidiInApi and MidiOutApi subclass prototypes. +// +// **************************************************************** // + +#if !defined(__LINUX_ALSA__) && !defined(__UNIX_JACK__) && !defined(__MACOSX_CORE__) && !defined(__WINDOWS_MM__) && !defined(__WINDOWS_KS__) + #define __RTMIDI_DUMMY__ +#endif + +#if defined(__MACOSX_CORE__) + +class MidiInCore: public MidiInApi +{ + public: + MidiInCore( const std::string clientName, unsigned int queueSizeLimit ); + ~MidiInCore( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::MACOSX_CORE; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + + protected: + void initialize( const std::string& clientName ); +}; + +class MidiOutCore: public MidiOutApi +{ + public: + MidiOutCore( const std::string clientName ); + ~MidiOutCore( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::MACOSX_CORE; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + void sendMessage( std::vector *message ); + + protected: + void initialize( const std::string& clientName ); +}; + +#endif + +#if defined(__UNIX_JACK__) + +class MidiInJack: public MidiInApi +{ + public: + MidiInJack( const std::string clientName, unsigned int queueSizeLimit ); + ~MidiInJack( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::UNIX_JACK; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + + protected: + void initialize( const std::string& clientName ); +}; + +class MidiOutJack: public MidiOutApi +{ + public: + MidiOutJack( const std::string clientName ); + ~MidiOutJack( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::UNIX_JACK; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + void sendMessage( std::vector *message ); + + protected: + void initialize( const std::string& clientName ); +}; + +#endif + +#if defined(__LINUX_ALSA__) + +class MidiInAlsa: public MidiInApi +{ + public: + MidiInAlsa( const std::string clientName, unsigned int queueSizeLimit ); + ~MidiInAlsa( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::LINUX_ALSA; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + + protected: + void initialize( const std::string& clientName ); +}; + +class MidiOutAlsa: public MidiOutApi +{ + public: + MidiOutAlsa( const std::string clientName ); + ~MidiOutAlsa( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::LINUX_ALSA; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + void sendMessage( std::vector *message ); + + protected: + void initialize( const std::string& clientName ); +}; + +#endif + +#if defined(__WINDOWS_MM__) + +class MidiInWinMM: public MidiInApi +{ + public: + MidiInWinMM( const std::string clientName, unsigned int queueSizeLimit ); + ~MidiInWinMM( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::WINDOWS_MM; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + + protected: + void initialize( const std::string& clientName ); +}; + +class MidiOutWinMM: public MidiOutApi +{ + public: + MidiOutWinMM( const std::string clientName ); + ~MidiOutWinMM( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::WINDOWS_MM; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + void sendMessage( std::vector *message ); + + protected: + void initialize( const std::string& clientName ); +}; + +#endif + +#if defined(__WINDOWS_KS__) + +class MidiInWinKS: public MidiInApi +{ + public: + MidiInWinKS( const std::string clientName, unsigned int queueSizeLimit ); + ~MidiInWinKS( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::WINDOWS_KS; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + + protected: + void initialize( const std::string& clientName ); +}; + +class MidiOutWinKS: public MidiOutApi +{ + public: + MidiOutWinKS( const std::string clientName ); + ~MidiOutWinKS( void ); + RtMidi::Api getCurrentApi( void ) { return RtMidi::WINDOWS_KS; }; + void openPort( unsigned int portNumber, const std::string portName ); + void openVirtualPort( const std::string portName ); + void closePort( void ); + unsigned int getPortCount( void ); + std::string getPortName( unsigned int portNumber ); + void sendMessage( std::vector *message ); + + protected: + void initialize( const std::string& clientName ); +}; + +#endif + +#if defined(__RTMIDI_DUMMY__) + +class MidiInDummy: public MidiInApi +{ + public: + MidiInDummy( const std::string clientName, unsigned int queueSizeLimit ) : MidiInApi( queueSizeLimit ) { errorString_ = "MidiInDummy: This class provides no functionality."; RtMidi::error( RtError::WARNING, errorString_ ); }; + RtMidi::Api getCurrentApi( void ) { return RtMidi::RTMIDI_DUMMY; }; + void openPort( unsigned int portNumber, const std::string portName ) {}; + void openVirtualPort( const std::string portName ) {}; + void closePort( void ) {}; + unsigned int getPortCount( void ) { return 0; }; + std::string getPortName( unsigned int portNumber ) { return ""; }; + + protected: + void initialize( const std::string& clientName ) {}; +}; + +class MidiOutDummy: public MidiOutApi +{ + public: + MidiOutDummy( const std::string clientName ) { errorString_ = "MidiOutDummy: This class provides no functionality."; RtMidi::error( RtError::WARNING, errorString_ ); }; + RtMidi::Api getCurrentApi( void ) { return RtMidi::RTMIDI_DUMMY; }; + void openPort( unsigned int portNumber, const std::string portName ) {}; + void openVirtualPort( const std::string portName ) {}; + void closePort( void ) {}; + unsigned int getPortCount( void ) { return 0; }; + std::string getPortName( unsigned int portNumber ) { return ""; }; + void sendMessage( std::vector *message ) {}; + + protected: + void initialize( const std::string& clientName ) {}; +}; + +#endif + +#endif \ No newline at end of file diff --git a/examples/ThirdPartyLibs/midi/cmidiin.cpp b/examples/ThirdPartyLibs/midi/cmidiin.cpp new file mode 100644 index 000000000..75d2958b0 --- /dev/null +++ b/examples/ThirdPartyLibs/midi/cmidiin.cpp @@ -0,0 +1,112 @@ +//*****************************************// +// cmidiin.cpp +// by Gary Scavone, 2003-2004. +// +// Simple program to test MIDI input and +// use of a user callback function. +// +//*****************************************// + +#include +#include +#include "RtMidi.h" + +void usage( void ) { + // Error function in case of incorrect command-line + // argument specifications. + std::cout << "\nuseage: cmidiin \n"; + std::cout << " where port = the device to use (default = 0).\n\n"; + exit( 0 ); +} + +void mycallback( double deltatime, std::vector< unsigned char > *message, void *userData ) +{ + unsigned int nBytes = message->size(); + for ( unsigned int i=0; i 0 ) + std::cout << "stamp = " << deltatime << std::endl; +} + +// This function should be embedded in a try/catch block in case of +// an exception. It offers the user a choice of MIDI ports to open. +// It returns false if there are no ports available. +bool chooseMidiPort( RtMidiIn *rtmidi ); + +int main( int argc, char *argv[] ) +{ + RtMidiIn *midiin = 0; + + // Minimal command-line check. + if ( argc > 2 ) usage(); + + + // RtMidiIn constructor + midiin = new RtMidiIn(); + + // Call function to select port. + if ( chooseMidiPort( midiin ) == false ) goto cleanup; + + // Set our callback function. This should be done immediately after + // opening the port to avoid having incoming messages written to the + // queue instead of sent to the callback function. + midiin->setCallback( &mycallback ); + + // Don't ignore sysex, timing, or active sensing messages. + midiin->ignoreTypes( false, false, false ); + + std::cout << "\nReading MIDI input ... press to quit.\n"; + char input; + std::cin.get(input); + std::cin.get(input); + + + + cleanup: + + delete midiin; + + return 0; +} + +bool chooseMidiPort( RtMidiIn *rtmidi ) +{ + /* + + std::cout << "\nWould you like to open a virtual input port? [y/N] "; + + std::string keyHit; + std::getline( std::cin, keyHit ); + if ( keyHit == "y" ) { + rtmidi->openVirtualPort(); + return true; + } + */ + + std::string portName; + unsigned int i = 0, nPorts = rtmidi->getPortCount(); + if ( nPorts == 0 ) { + std::cout << "No input ports available!" << std::endl; + return false; + } + + if ( nPorts == 1 ) { + std::cout << "\nOpening " << rtmidi->getPortName() << std::endl; + } + else { + for ( i=0; igetPortName(i); + std::cout << " Input port #" << i << ": " << portName << '\n'; + } + + do { + std::cout << "\nChoose a port number: "; + std::cin >> i; + } while ( i >= nPorts ); + } + +// std::getline( std::cin, keyHit ); // used to clear out stdin + rtmidi->openPort( i ); + + return true; +} \ No newline at end of file diff --git a/examples/ThirdPartyLibs/midi/premake4.lua b/examples/ThirdPartyLibs/midi/premake4.lua new file mode 100644 index 000000000..f71f8dba9 --- /dev/null +++ b/examples/ThirdPartyLibs/midi/premake4.lua @@ -0,0 +1,35 @@ + + project "rtMidiTest" + + kind "ConsoleApp" + +-- defines { } + + + includedirs + { + ".", + } + + +-- links { } + + + files { + "**.cpp", + "**.h" + } + if os.is("Windows") then + links {"winmm"} + defines {"__WINDOWS_MM__", "WIN32"} + end + + if os.is("Linux") then + defines {"__LINUX_ALSA__"} + links {"asound","pthread"} + end + + if os.is("MacOSX") then + links{"CoreAudio.framework", "coreMIDI.framework", "Cocoa.framework"} + defines {"__MACOSX_CORE__"} + end \ No newline at end of file diff --git a/examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/bin/linux32/libopenvr_api.so deleted file mode 100644 index a2505450834286ecae2bbe96c4742eca32584da7..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 347110 zcmce<4|r6?^*(+VBSegD#As1bV~rO7VL(7o^cx^SqM$K<6cw6;WFdi&tjS#n3X-^q zvMvh|P^n^#iWQY=RHUe=kx)QuHCn5*wKlb=8$)fhs7TTL-uK+Od+*-eK=}APzs)l_ zb7sz*IdkUBnRDmfy}Kl9$|RS|rJ0{2v?DZPUZ19o1nmBIf>e#vQnmitQ0;VWh}4_( 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-0800 Subject: [PATCH 046/102] tweak quadruped script to make a few more moves --- data/plane.urdf | 3 ++ examples/pybullet/quadruped.py | 77 ++++++++++++++++++++++++++++++---- 2 files changed, 72 insertions(+), 8 deletions(-) diff --git a/data/plane.urdf b/data/plane.urdf index 900080e08..480b0752f 100644 --- a/data/plane.urdf +++ b/data/plane.urdf @@ -1,6 +1,9 @@ + + + diff --git a/examples/pybullet/quadruped.py b/examples/pybullet/quadruped.py index d4d4838bd..6205191f1 100644 --- a/examples/pybullet/quadruped.py +++ b/examples/pybullet/quadruped.py @@ -1,5 +1,6 @@ import pybullet as p import time +import math p.connect(p.SHARED_MEMORY) p.loadURDF("plane.urdf") @@ -13,10 +14,10 @@ p.resetJointState(quadruped,3,-1.57) p.resetJointState(quadruped,5,2.2) p.createConstraint(quadruped,2,quadruped,5,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2]) -p.setJointMotorControl(quadruped,0,p.VELOCITY_CONTROL,1,10) +p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,1.57,1) p.setJointMotorControl(quadruped,1,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,2,p.VELOCITY_CONTROL,0,0) -p.setJointMotorControl(quadruped,3,p.VELOCITY_CONTROL,-1,10) +p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,1) p.setJointMotorControl(quadruped,4,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,5,p.VELOCITY_CONTROL,0,0) @@ -27,10 +28,10 @@ p.resetJointState(quadruped,9,-1.57) p.resetJointState(quadruped,11,2.2) p.createConstraint(quadruped,8,quadruped,11,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2]) -p.setJointMotorControl(quadruped,6,p.VELOCITY_CONTROL,1,10) +p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,1.57,1) p.setJointMotorControl(quadruped,7,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,8,p.VELOCITY_CONTROL,0,0) -p.setJointMotorControl(quadruped,9,p.VELOCITY_CONTROL,-1,10) +p.setJointMotorControl(quadruped,9,p.POSITION_CONTROL,-1.57,1) p.setJointMotorControl(quadruped,10,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,11,p.VELOCITY_CONTROL,0,0) @@ -42,10 +43,10 @@ p.resetJointState(quadruped,15,-1.57) p.resetJointState(quadruped,17,2.2) p.createConstraint(quadruped,14,quadruped,17,3,[0,0,0],[0,0.01,0.2],[0,-0.015,0.2]) -p.setJointMotorControl(quadruped,12,p.VELOCITY_CONTROL,6,10) +p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,1.57,1) p.setJointMotorControl(quadruped,13,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,14,p.VELOCITY_CONTROL,0,0) -p.setJointMotorControl(quadruped,15,p.VELOCITY_CONTROL,-6,10) +p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-1.57,1) p.setJointMotorControl(quadruped,16,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,17,p.VELOCITY_CONTROL,0,0) @@ -56,12 +57,72 @@ p.resetJointState(quadruped,21,-1.57) p.resetJointState(quadruped,23,2.2) p.createConstraint(quadruped,20,quadruped,23,3,[0,0,0],[0,-0.01,0.2],[0,0.015,0.2]) -p.setJointMotorControl(quadruped,18,p.VELOCITY_CONTROL,6,10) +p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,1.57,1) p.setJointMotorControl(quadruped,19,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,20,p.VELOCITY_CONTROL,0,0) -p.setJointMotorControl(quadruped,21,p.VELOCITY_CONTROL,-6,10) +p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1) p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0) p.setGravity(0,0,-10) +p_gain = 2 +speed = 10 +amplitude = 1.3 + +#stand still +t_end = time.time() + 5 +while time.time() < t_end: + p.stepSimulation() + +jump_amp = 0.5 + +#jump +t_end = time.time() + 10 +i=0 +while time.time() < t_end: + t = time.time() + p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain) + p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain) + p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain) + p.setJointMotorControl(quadruped,9,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain) + p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain) + p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain) + p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*speed)*jump_amp+1.57,p_gain) + p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-math.sin(t*speed)*jump_amp-1.57,p_gain) + + p.stepSimulation() + + +#hop forward +t_end = time.time() + 30 +i=0 +while time.time() < t_end: + t = time.time() + p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*speed)*amplitude+1.57,p_gain) + p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,p_gain) + p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*speed)*amplitude+1.57,p_gain) + p.setJointMotorControl(quadruped,9,p.POSITION_CONTROL,-1.57,p_gain) + p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,math.sin(t*speed+3.14)*amplitude+1.57,p_gain) + p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-1.57,p_gain) + p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*speed+3.14)*amplitude+1.57,p_gain) + p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,p_gain) + + p.stepSimulation() + +#walk +t_end = time.time() + 120 +i=0 +while time.time() < t_end: + t = time.time() + p.setJointMotorControl(quadruped,0,p.POSITION_CONTROL,math.sin(t*3)*.3+1.57,1) + p.setJointMotorControl(quadruped,3,p.POSITION_CONTROL,-1.57,1) + p.setJointMotorControl(quadruped,6,p.POSITION_CONTROL,math.sin(t*3+0.5*3.14)*.3+1.57,1) + p.setJointMotorControl(quadruped,9,p.POSITION_CONTROL,-1.57,1) + p.setJointMotorControl(quadruped,12,p.POSITION_CONTROL,math.sin(t*3+3.14)*.3+1.57,1) + p.setJointMotorControl(quadruped,15,p.POSITION_CONTROL,-1.57,1) + p.setJointMotorControl(quadruped,18,p.POSITION_CONTROL,math.sin(t*3+1.5*3.14)*.3+1.57,1) + p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1) + + p.stepSimulation() + From 8c69fa13cab52c178d343348a9a14717173be520 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Thu, 17 Nov 2016 15:15:52 -0800 Subject: [PATCH 047/102] add pybullet getCameraImage, replacing renderImage, cleaner API: always pass in width, hight and viewMatrix, projectionMatrix, optionally lightDir added helper methods computeViewMatrix, computeViewMatrixFromYawPitchRoll, computeProjectionMatrix, computeProjectionMatrixFOV see Bullet/examples/pybullet/testrender.py + testrender_np.py for example use add missing base_link.stl for husky.urdf --- data/husky/meshes/base_link.stl | Bin 0 -> 60484 bytes examples/SharedMemory/PhysicsClientC_API.cpp | 377 +++++++++-------- examples/SharedMemory/PhysicsClientC_API.h | 24 +- .../PhysicsServerCommandProcessor.cpp | 4 + examples/SharedMemory/SharedMemoryCommands.h | 2 + .../TinyRendererVisualShapeConverter.cpp | 40 +- .../TinyRendererVisualShapeConverter.h | 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z_ua~d6KBi7TKQYvzi+g>)}>Fv?N%K)Mo@u0V!l6$XHm=|(wi;M-;O}|Y3@AwU1%P0 z;;;;C2de2=ga796l)^lBb2-h4v!et@J35}46UWb0-<7a9O>^R`1BnX1XIblJF2A^R zdFWDU&55%L%tCLGd{Oeje;Dv~Nc90m{-45d;>b_rUC2+2aN@LUpq{|SXZ*<5(4VXK z0%-4qoZfsj`H5eWUxE=-_@C12)2#+~$WOfgjON7IV__EgeoXl#h7-4sh-~Nn9Va53 zIIF-c@__W`=1q&f`xd$*iTaj3Q*+{M1Qq1_=`zey#e4QI^jN)A(fyETS(M?#X@z==1{LJ{=~|g5u=l@s+S~c$o8bs2&MGhqpSdJHPLq(AbaA`4 zW~1iBSp{a{8xgcBL;mic=eN7%3@1)2)LR>tH3NZ xDwRKHyzu=r+NXavOw=%(I2%C)xr6$1b=}aNK3!1>m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; } +void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + for (int i = 0; i<3; i++) + { + command->m_requestPixelDataArguments.m_lightDirection[i] = lightDirection[i]; + } + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION; +} + + +void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]) +{ + b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]); + b3Vector3 center = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]); + b3Vector3 up = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]); + b3Vector3 f = (center - eye).normalized(); + b3Vector3 u = up.normalized(); + b3Vector3 s = (f.cross(u)).normalized(); + u = s.cross(f); + + viewMatrix[0 * 4 + 0] = s.x; + viewMatrix[1 * 4 + 0] = s.y; + viewMatrix[2 * 4 + 0] = s.z; + + viewMatrix[0 * 4 + 1] = u.x; + viewMatrix[1 * 4 + 1] = u.y; + viewMatrix[2 * 4 + 1] = u.z; + + viewMatrix[0 * 4 + 2] = -f.x; + viewMatrix[1 * 4 + 2] = -f.y; + viewMatrix[2 * 4 + 2] = -f.z; + + viewMatrix[0 * 4 + 3] = 0.f; + viewMatrix[1 * 4 + 3] = 0.f; + viewMatrix[2 * 4 + 3] = 0.f; + + viewMatrix[3 * 4 + 0] = -s.dot(eye); + viewMatrix[3 * 4 + 1] = -u.dot(eye); + viewMatrix[3 * 4 + 2] = f.dot(eye); + viewMatrix[3 * 4 + 3] = 1.f; +} + + +void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]) +{ + b3Vector3 camUpVector; + b3Vector3 camForward; + b3Vector3 camPos; + b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]); + b3Vector3 eyePos = b3MakeVector3(0, 0, 0); + + int forwardAxis(-1); + + { + + switch (upAxis) + { + + case 1: + { + + + forwardAxis = 0; + eyePos[forwardAxis] = -distance; + camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]); + if (camForward.length2() < B3_EPSILON) + { + camForward.setValue(1.f, 0.f, 0.f); + } + else + { + camForward.normalize(); + } + b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547); + b3Quaternion rollRot(camForward, rollRad); + + camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 1, 0)); + //gLightPos = b3MakeVector3(-50.f,100,30); + break; + } + case 2: + { + + + forwardAxis = 1; + eyePos[forwardAxis] = -distance; + camForward = b3MakeVector3(eyePos[0], eyePos[1], eyePos[2]); + if (camForward.length2() < B3_EPSILON) + { + camForward.setValue(1.f, 0.f, 0.f); + } + else + { + camForward.normalize(); + } + + b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547); + b3Quaternion rollRot(camForward, rollRad); + + camUpVector = b3QuatRotate(rollRot, b3MakeVector3(0, 0, 1)); + //gLightPos = b3MakeVector3(-50.f,30,100); + break; + } + default: + { + //b3Assert(0); + return; + } + }; + } + + + b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg + b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg + + b3Quaternion pitchRot(camUpVector, pitchRad); + + b3Vector3 right = camUpVector.cross(camForward); + b3Quaternion yawRot(right, -yawRad); + + eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos; + camPos = eyePos; + camPos += camTargetPos; + + float camPosf[4] = { camPos[0],camPos[1],camPos[2],0 }; + float camPosTargetf[4] = { camTargetPos[0],camTargetPos[1],camTargetPos[2],0 }; + float camUpf[4] = { camUpVector[0],camUpVector[1],camUpVector[2],0 }; + + b3ComputeViewMatrixFromPositions(camPosf, camPosTargetf, camUpf,viewMatrix); + +} + + +void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]) +{ + projectionMatrix[0 * 4 + 0] = (float(2) * nearVal) / (right - left); + projectionMatrix[0 * 4 + 1] = float(0); + projectionMatrix[0 * 4 + 2] = float(0); + projectionMatrix[0 * 4 + 3] = float(0); + + projectionMatrix[1 * 4 + 0] = float(0); + projectionMatrix[1 * 4 + 1] = (float(2) * nearVal) / (top - bottom); + projectionMatrix[1 * 4 + 2] = float(0); + projectionMatrix[1 * 4 + 3] = float(0); + + projectionMatrix[2 * 4 + 0] = (right + left) / (right - left); + projectionMatrix[2 * 4 + 1] = (top + bottom) / (top - bottom); + projectionMatrix[2 * 4 + 2] = -(farVal + nearVal) / (farVal - nearVal); + projectionMatrix[2 * 4 + 3] = float(-1); + + projectionMatrix[3 * 4 + 0] = float(0); + projectionMatrix[3 * 4 + 1] = float(0); + projectionMatrix[3 * 4 + 2] = -(float(2) * farVal * nearVal) / (farVal - nearVal); + projectionMatrix[3 * 4 + 3] = float(0); +} + + +void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float projectionMatrix[16]) +{ + float yScale = 1.0 / tan((3.141592538 / 180.0) * fov / 2); + float xScale = yScale / aspect; + + projectionMatrix[0 * 4 + 0] = xScale; + projectionMatrix[0 * 4 + 1] = float(0); + projectionMatrix[0 * 4 + 2] = float(0); + projectionMatrix[0 * 4 + 3] = float(0); + + projectionMatrix[1 * 4 + 0] = float(0); + projectionMatrix[1 * 4 + 1] = yScale; + projectionMatrix[1 * 4 + 2] = float(0); + projectionMatrix[1 * 4 + 3] = float(0); + + projectionMatrix[2 * 4 + 0] = 0; + projectionMatrix[2 * 4 + 1] = 0; + projectionMatrix[2 * 4 + 2] = (nearVal + farVal) / (nearVal - farVal); + projectionMatrix[2 * 4 + 3] = float(-1); + + projectionMatrix[3 * 4 + 0] = float(0); + projectionMatrix[3 * 4 + 1] = float(0); + projectionMatrix[3 * 4 + 2] = (float(2) * farVal * nearVal) / (nearVal - farVal); + projectionMatrix[3 * 4 + 3] = float(0); +} + + void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); - b3Vector3 camUpVector; - b3Vector3 camForward; - b3Vector3 camPos; - b3Vector3 camTargetPos = b3MakeVector3(cameraTargetPosition[0],cameraTargetPosition[1],cameraTargetPosition[2]); - b3Vector3 eyePos = b3MakeVector3(0,0,0); - - int forwardAxis(-1); - - { - - switch (upAxis) - { - - case 1: - { - - - forwardAxis = 0; - eyePos[forwardAxis] = -distance; - camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]); - if (camForward.length2() < B3_EPSILON) - { - camForward.setValue(1.f,0.f,0.f); - } else - { - camForward.normalize(); - } - b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547); - b3Quaternion rollRot(camForward,rollRad); - - camUpVector = b3QuatRotate(rollRot,b3MakeVector3(0,1,0)); - //gLightPos = b3MakeVector3(-50.f,100,30); - break; - } - case 2: - { - - - forwardAxis = 1; - eyePos[forwardAxis] = -distance; - camForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]); - if (camForward.length2() < B3_EPSILON) - { - camForward.setValue(1.f,0.f,0.f); - } else - { - camForward.normalize(); - } - - b3Scalar rollRad = roll * b3Scalar(0.01745329251994329547); - b3Quaternion rollRot(camForward,rollRad); - - camUpVector = b3QuatRotate(rollRot,b3MakeVector3(0,0,1)); - //gLightPos = b3MakeVector3(-50.f,30,100); - break; - } - default: - { - //b3Assert(0); - return; - } - }; - } - - - b3Scalar yawRad = yaw * b3Scalar(0.01745329251994329547);// rads per deg - b3Scalar pitchRad = pitch * b3Scalar(0.01745329251994329547);// rads per deg - - b3Quaternion pitchRot(camUpVector,pitchRad); - - b3Vector3 right = camUpVector.cross(camForward); - b3Quaternion yawRot(right,-yawRad); - - - - eyePos = b3Matrix3x3(pitchRot) * b3Matrix3x3(yawRot) * eyePos; - camPos = eyePos; - camPos += camTargetPos; - - float camPosf[4] = {camPos[0],camPos[1],camPos[2],0}; - float camPosTargetf[4] = {camTargetPos[0],camTargetPos[1],camTargetPos[2],0}; - float camUpf[4] = {camUpVector[0],camUpVector[1],camUpVector[2],0}; - - b3RequestCameraImageSetViewMatrix(commandHandle,camPosf,camPosTargetf,camUpf); + + b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPosition, distance, yaw, pitch, roll, upAxis, command->m_requestPixelDataArguments.m_viewMatrix); + command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; } + + + + void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]) { - b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]); - b3Vector3 center = b3MakeVector3(cameraTargetPosition[0], cameraTargetPosition[1], cameraTargetPosition[2]); - b3Vector3 up = b3MakeVector3(cameraUp[0], cameraUp[1], cameraUp[2]); - b3Vector3 f = (center - eye).normalized(); - b3Vector3 u = up.normalized(); - b3Vector3 s = (f.cross(u)).normalized(); - u = s.cross(f); - - float viewMatrix[16]; - - viewMatrix[0*4+0] = s.x; - viewMatrix[1*4+0] = s.y; - viewMatrix[2*4+0] = s.z; - - viewMatrix[0*4+1] = u.x; - viewMatrix[1*4+1] = u.y; - viewMatrix[2*4+1] = u.z; - - viewMatrix[0*4+2] =-f.x; - viewMatrix[1*4+2] =-f.y; - viewMatrix[2*4+2] =-f.z; - - viewMatrix[0*4+3] = 0.f; - viewMatrix[1*4+3] = 0.f; - viewMatrix[2*4+3] = 0.f; - - viewMatrix[3*4+0] = -s.dot(eye); - viewMatrix[3*4+1] = -u.dot(eye); - viewMatrix[3*4+2] = f.dot(eye); - viewMatrix[3*4+3] = 1.f; + float viewMatrix[16]; + b3ComputeViewMatrixFromPositions(cameraPosition, cameraTargetPosition, cameraUp, viewMatrix); 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_viewMatrix[i] = viewMatrix[i]; - } + + b3ComputeViewMatrixFromPositions(cameraPosition, cameraTargetPosition, cameraUp, command->m_requestPixelDataArguments.m_viewMatrix); + command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; } void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float left, float right, float bottom, float top, float nearVal, float farVal) { - float frustum[16]; - - frustum[0*4+0] = (float(2) * nearVal) / (right - left); - frustum[0*4+1] = float(0); - frustum[0*4+2] = float(0); - frustum[0*4+3] = float(0); - - frustum[1*4+0] = float(0); - frustum[1*4+1] = (float(2) * nearVal) / (top - bottom); - frustum[1*4+2] = float(0); - frustum[1*4+3] = float(0); - - frustum[2*4+0] = (right + left) / (right - left); - frustum[2*4+1] = (top + bottom) / (top - bottom); - frustum[2*4+2] = -(farVal + nearVal) / (farVal - nearVal); - frustum[2*4+3] = float(-1); - - frustum[3*4+0] = float(0); - frustum[3*4+1] = float(0); - frustum[3*4+2] = -(float(2) * farVal * nearVal) / (farVal - nearVal); - frustum[3*4+3] = float(0); 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_projectionMatrix[i] = frustum[i]; - } + + b3ComputeProjectionMatrix(left, right, bottom, top, nearVal, farVal, command->m_requestPixelDataArguments.m_projectionMatrix); + command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; } void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle commandHandle, float fov, float aspect, float nearVal, float farVal) { - float yScale = 1.0 / tan((3.141592538 / 180.0) * fov / 2); - float xScale = yScale / aspect; - - float frustum[16]; - - frustum[0*4+0] = xScale; - frustum[0*4+1] = float(0); - frustum[0*4+2] = float(0); - frustum[0*4+3] = float(0); - - frustum[1*4+0] = float(0); - frustum[1*4+1] = yScale; - frustum[1*4+2] = float(0); - frustum[1*4+3] = float(0); - - frustum[2*4+0] = 0; - frustum[2*4+1] = 0; - frustum[2*4+2] = (nearVal + farVal) / (nearVal - farVal); - frustum[2*4+3] = float(-1); - - frustum[3*4+0] = float(0); - frustum[3*4+1] = float(0); - frustum[3*4+2] = (float(2) * farVal * nearVal) / (nearVal - farVal); - frustum[3*4+3] = float(0); + 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_projectionMatrix[i] = frustum[i]; - } + + b3ComputeProjectionMatrixFOV(fov, aspect, nearVal, farVal, command->m_requestPixelDataArguments.m_projectionMatrix); + command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES; } diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 18eba1c0a..529e50e94 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -95,14 +95,30 @@ int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle); ///request an image from a simulated camera, using a software renderer. b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient); void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]); -void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]); -void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis); -void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal); -void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal); void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); +void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]); void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); +///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices +void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]); +void b3ComputeViewMatrixFromYawPitchRoll(const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis, float viewMatrix[16]); + +///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices +void b3ComputeProjectionMatrix(float left, float right, float bottom, float top, float nearVal, float farVal, float projectionMatrix[16]); +void b3ComputeProjectionMatrixFOV(float fov, float aspect, float nearVal, float farVal, float projectionMatrix[16]); + + +/* obsolete, please use b3ComputeViewProjectionMatrices */ +void b3RequestCameraImageSetViewMatrix(b3SharedMemoryCommandHandle command, const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3]); +/* obsolete, please use b3ComputeViewProjectionMatrices */ +void b3RequestCameraImageSetViewMatrix2(b3SharedMemoryCommandHandle commandHandle, const float cameraTargetPosition[3], float distance, float yaw, float pitch, float roll, int upAxis); +/* obsolete, please use b3ComputeViewProjectionMatrices */ +void b3RequestCameraImageSetProjectionMatrix(b3SharedMemoryCommandHandle command, float left, float right, float bottom, float top, float nearVal, float farVal); +/* obsolete, please use b3ComputeViewProjectionMatrices */ +void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle command, float fov, float aspect, float nearVal, float farVal); + + ///request an contact point information b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient); void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 9791ab288..8bb278673 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1416,6 +1416,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { // printf("-------------------------------\nRendering\n"); + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION) != 0) + { + m_data->m_visualConverter.setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]); + } if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0) { diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 715bdd11d..40b62f518 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -138,12 +138,14 @@ struct RequestPixelDataArgs int m_startPixelIndex; int m_pixelWidth; int m_pixelHeight; + float m_lightDirection[3]; }; enum EnumRequestPixelDataUpdateFlags { REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1, REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4, + REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=8, //don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 643c7c1c0..676ca65d3 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -73,14 +73,17 @@ struct TinyRendererVisualShapeConverterInternalData b3AlignedObjectArray m_textures; b3AlignedObjectArray m_depthBuffer; b3AlignedObjectArray m_segmentationMaskBuffer; - + btVector3 m_lightDirection; + bool m_hasLightDirection; SimpleCamera m_camera; + TinyRendererVisualShapeConverterInternalData() :m_upAxis(2), m_swWidth(START_WIDTH), m_swHeight(START_HEIGHT), - m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB) + m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB), + m_hasLightDirection(false) { m_depthBuffer.resize(m_swWidth*m_swHeight); m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1); @@ -108,7 +111,11 @@ TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter() delete m_data; } - +void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float z) +{ + m_data->m_lightDirection.setValue(x, y, z); + m_data->m_hasLightDirection = true; +} void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut, b3VisualShapeData& visualShapeOut) @@ -677,16 +684,23 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo btVector3 lightDirWorld(-5,200,-40); - switch (m_data->m_upAxis) - { - case 1: - lightDirWorld = btVector3(-50.f,100,30); - break; - case 2: - lightDirWorld = btVector3(-50.f,30,100); - break; - default:{} - }; + if (m_data->m_hasLightDirection) + { + lightDirWorld = m_data->m_lightDirection; + } + else + { + switch (m_data->m_upAxis) + { + case 1: + lightDirWorld = btVector3(-50.f, 100, 30); + break; + case 2: + lightDirWorld = btVector3(-50.f, 30, 100); + break; + default: {} + }; + } lightDirWorld.normalize(); diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index 48c5c1079..1a4a02f76 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -32,7 +32,8 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void getWidthAndHeight(int& width, int& height); void setWidthAndHeight(int width, int height); - + void setLightDirection(float x, float y, float z); + void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied); void render(); diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 47aaee9d9..17e782b8b 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1377,15 +1377,18 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) { PyObject* seq; seq = PySequence_Fast(objMat, "expected a sequence"); - len = PySequence_Size(objMat); - if (len == 16) { - for (i = 0; i < len; i++) { - matrix[i] = pybullet_internalGetFloatFromSequence(seq, i); - } - Py_DECREF(seq); - return 1; + if (seq) + { + len = PySequence_Size(objMat); + if (len == 16) { + for (i = 0; i < len; i++) { + matrix[i] = pybullet_internalGetFloatFromSequence(seq, i); + } + Py_DECREF(seq); + return 1; + } + Py_DECREF(seq); } - Py_DECREF(seq); return 0; } @@ -1397,20 +1400,24 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) { // vector - float[3] which will be set by values from objMat static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) { int i, len; - PyObject* seq; + PyObject* seq=0; if (objVec==NULL) return 0; seq = PySequence_Fast(objVec, "expected a sequence"); - len = PySequence_Size(objVec); - if (len == 3) { - for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); - } - Py_DECREF(seq); - return 1; + if (seq) + { + + len = PySequence_Size(objVec); + if (len == 3) { + for (i = 0; i < len; i++) { + vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + } + Py_DECREF(seq); + return 1; + } + Py_DECREF(seq); } - Py_DECREF(seq); return 0; } @@ -1422,15 +1429,18 @@ static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) { return 0; seq = PySequence_Fast(obVec, "expected a sequence"); - len = PySequence_Size(obVec); - if (len == 3) { - for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); - } - Py_DECREF(seq); - return 1; - } - Py_DECREF(seq); + if (seq) + { + len = PySequence_Size(obVec); + if (len == 3) { + for (i = 0; i < len; i++) { + vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + } + Py_DECREF(seq); + return 1; + } + Py_DECREF(seq); + } return 0; } @@ -2196,6 +2206,302 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py return Py_None; } + + +/// Render an image from the current timestep of the simulation, width, height are required, other args are optional +// getCameraImage(w, h, view[16], projection[16], lightpos[3]) +static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) +{ + /// request an image from a simulated camera, using a software renderer. + struct b3CameraImageData imageData; + PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0; + int width, height; + int size = PySequence_Size(args); + float viewMatrix[16]; + float projectionMatrix[16]; + float lightDir[3]; + // inialize cmd + b3SharedMemoryCommandHandle command; + + if (0 == sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + command = b3InitRequestCameraImage(sm); + + // set camera resolution, optionally view, projection matrix, light direction + static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection",NULL }; + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj)) + { + return NULL; + } + b3RequestCameraImageSetPixelResolution(command, width, height); + + // set camera matrices only if set matrix function succeeds + if (pybullet_internalSetMatrix(objViewMat, viewMatrix) && (pybullet_internalSetMatrix(objProjMat, projectionMatrix))) + { + b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); + } + //set light pos only if function succeeds + if (pybullet_internalSetVector(lightDirObj, lightDir)) + { + b3RequestCameraImageSetLightDirection(command, lightDir); + } + + + if (b3CanSubmitCommand(sm)) + { + b3SharedMemoryStatusHandle statusHandle; + int statusType; + + // b3RequestCameraImageSelectRenderer(command,ER_BULLET_HARDWARE_OPENGL); + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + statusType = b3GetStatusType(statusHandle); + if (statusType == CMD_CAMERA_IMAGE_COMPLETED) { + PyObject* item2; + PyObject* pyResultList; // store 4 elements in this result: width, + // height, rgbData, depth + +#ifdef PYBULLET_USE_NUMPY + PyObject* pyRGB; + PyObject* pyDep; + PyObject* pySeg; + + int i, j, p; + + b3GetCameraImageData(sm, &imageData); + // TODO(hellojas): error handling if image size is 0 + pyResultList = PyTuple_New(5); + PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth)); + PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight)); + + int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values + + npy_intp rgb_dims[3] = { imageData.m_pixelHeight, imageData.m_pixelWidth, + bytesPerPixel }; + npy_intp dep_dims[2] = { imageData.m_pixelHeight, imageData.m_pixelWidth }; + npy_intp seg_dims[2] = { imageData.m_pixelHeight, imageData.m_pixelWidth }; + + pyRGB = PyArray_SimpleNew(3, rgb_dims, NPY_UINT8); + pyDep = PyArray_SimpleNew(2, dep_dims, NPY_FLOAT32); + pySeg = PyArray_SimpleNew(2, seg_dims, NPY_INT32); + + memcpy(PyArray_DATA(pyRGB), imageData.m_rgbColorData, + imageData.m_pixelHeight * imageData.m_pixelWidth * bytesPerPixel); + memcpy(PyArray_DATA(pyDep), imageData.m_depthValues, + imageData.m_pixelHeight * imageData.m_pixelWidth); + memcpy(PyArray_DATA(pySeg), imageData.m_segmentationMaskValues, + imageData.m_pixelHeight * imageData.m_pixelWidth); + + PyTuple_SetItem(pyResultList, 2, pyRGB); + PyTuple_SetItem(pyResultList, 3, pyDep); + PyTuple_SetItem(pyResultList, 4, pySeg); +#else//PYBULLET_USE_NUMPY + PyObject* pylistRGB; + PyObject* pylistDep; + PyObject* pylistSeg; + + int i, j, p; + + b3GetCameraImageData(sm, &imageData); + // TODO(hellojas): error handling if image size is 0 + pyResultList = PyTuple_New(5); + PyTuple_SetItem(pyResultList, 0, PyInt_FromLong(imageData.m_pixelWidth)); + PyTuple_SetItem(pyResultList, 1, PyInt_FromLong(imageData.m_pixelHeight)); + + { + PyObject* item; + int bytesPerPixel = 4; // Red, Green, Blue, and Alpha each 8 bit values + int num = + bytesPerPixel * imageData.m_pixelWidth * imageData.m_pixelHeight; + pylistRGB = PyTuple_New(num); + pylistDep = + PyTuple_New(imageData.m_pixelWidth * imageData.m_pixelHeight); + pylistSeg = + PyTuple_New(imageData.m_pixelWidth * imageData.m_pixelHeight); + for (i = 0; i < imageData.m_pixelWidth; i++) { + for (j = 0; j < imageData.m_pixelHeight; j++) { + // TODO(hellojas): validate depth values make sense + int depIndex = i + j * imageData.m_pixelWidth; + { + item = PyFloat_FromDouble(imageData.m_depthValues[depIndex]); + PyTuple_SetItem(pylistDep, depIndex, item); + } + { + item2 = + PyLong_FromLong(imageData.m_segmentationMaskValues[depIndex]); + PyTuple_SetItem(pylistSeg, depIndex, item2); + } + + for (p = 0; p < bytesPerPixel; p++) { + int pixelIndex = + bytesPerPixel * (i + j * imageData.m_pixelWidth) + p; + item = PyInt_FromLong(imageData.m_rgbColorData[pixelIndex]); + PyTuple_SetItem(pylistRGB, pixelIndex, item); + } + } + } + } + + PyTuple_SetItem(pyResultList, 2, pylistRGB); + PyTuple_SetItem(pyResultList, 3, pylistDep); + PyTuple_SetItem(pyResultList, 4, pylistSeg); + return pyResultList; +#endif//PYBULLET_USE_NUMPY + + return pyResultList; + } + } + + Py_INCREF(Py_None); + return Py_None; + +} + + + +static PyObject* pybullet_computeViewMatrix(PyObject* self, PyObject* args, PyObject *keywds) +{ + PyObject* camEyeObj = 0; + PyObject* camTargetPositionObj = 0; + PyObject* camUpVectorObj = 0; + float camEye[3]; + float camTargetPosition[3]; + float camUpVector[3]; + + // set camera resolution, optionally view, projection matrix, light position + static char *kwlist[] = { "cameraEyePosition", "cameraTargetPosition", "cameraUpVector",NULL }; + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "OOO", kwlist, &camEyeObj, &camTargetPositionObj, &camUpVectorObj)) + { + return NULL; + } + + if (pybullet_internalSetVector(camEyeObj, camEye) && + pybullet_internalSetVector(camTargetPositionObj, camTargetPosition) && + pybullet_internalSetVector(camUpVectorObj, camUpVector)) + { + float viewMatrix[16]; + PyObject* pyResultList=0; + int i; + b3ComputeViewMatrixFromPositions(camEye, camTargetPosition, camUpVector, viewMatrix); + + pyResultList = PyTuple_New(16); + for (i = 0; i < 16; i++) + { + PyObject* item = PyFloat_FromDouble(viewMatrix[i]); + PyTuple_SetItem(pyResultList, i, item); + } + return pyResultList; + } + + PyErr_SetString(SpamError, "Error in computeViewMatrix."); + return NULL; +} + +///compute a view matrix, helper function for b3RequestCameraImageSetCameraMatrices +static PyObject* pybullet_computeViewMatrixFromYawPitchRoll(PyObject* self, PyObject* args, PyObject *keywds) +{ + PyObject* cameraTargetPositionObj = 0; + float cameraTargetPosition[3]; + float distance, yaw, pitch, roll; + int upAxisIndex; + float viewMatrix[16]; + PyObject* pyResultList = 0; + int i; + + // set camera resolution, optionally view, projection matrix, light position + static char *kwlist[] = { "cameraTargetPosition", "distance", "yaw", "pitch", "roll", "upAxisIndex" ,NULL }; + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "Offffi", kwlist, &cameraTargetPositionObj, &distance,&yaw,&pitch,&roll, &upAxisIndex)) + { + return NULL; + } + + if (!pybullet_internalSetVector(cameraTargetPositionObj, cameraTargetPosition)) + { + PyErr_SetString(SpamError, "Cannot convert cameraTargetPosition."); + return NULL; + } + + b3ComputeViewMatrixFromYawPitchRoll(cameraTargetPosition, distance, yaw, pitch, roll, upAxisIndex, viewMatrix); + + pyResultList = PyTuple_New(16); + for (i = 0; i < 16; i++) + { + PyObject* item = PyFloat_FromDouble(viewMatrix[i]); + PyTuple_SetItem(pyResultList, i, item); + } + return pyResultList; + + +} + +///compute a projection matrix, helper function for b3RequestCameraImageSetCameraMatrices +static PyObject* pybullet_computeProjectionMatrix(PyObject* self, PyObject* args, PyObject *keywds) +{ + PyObject* pyResultList = 0; + float left; + float right; + float bottom; + float top; + float nearVal; + float farVal; + float projectionMatrix[16]; + int i; + + // set camera resolution, optionally view, projection matrix, light position + static char *kwlist[] = { "left", "right", "bottom", "top", "nearVal", "farVal" ,NULL }; + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ffffff", kwlist, &left, &right, &bottom, &top, &nearVal, &farVal)) + { + return NULL; + } + + + b3ComputeProjectionMatrix(left, right, bottom, top, nearVal, farVal, projectionMatrix); + + pyResultList = PyTuple_New(16); + for (i = 0; i < 16; i++) + { + PyObject* item = PyFloat_FromDouble(projectionMatrix[i]); + PyTuple_SetItem(pyResultList, i, item); + } + return pyResultList; + +} + +static PyObject* pybullet_computeProjectionMatrixFOV(PyObject* self, PyObject* args, PyObject *keywds) +{ + float fov, aspect, nearVal, farVal; + PyObject* pyResultList = 0; + float projectionMatrix[16]; + int i; + + static char *kwlist[] = { "fov","aspect","nearVal","farVal",NULL }; + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ffff", kwlist, &fov, &aspect, &nearVal, &farVal)) + { + return NULL; + } + + b3ComputeProjectionMatrixFOV(fov, aspect, nearVal, farVal, projectionMatrix); + + pyResultList = PyTuple_New(16); + for (i = 0; i < 16; i++) + { + PyObject* item = PyFloat_FromDouble(projectionMatrix[i]); + PyTuple_SetItem(pyResultList, i, item); + } + return pyResultList; + +} + + // Render an image from the current timestep of the simulation // // Examples: @@ -2219,7 +2525,7 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py // TODO(hellojas): fix image is cut off at head // TODO(hellojas): should we add check to give minimum image resolution // to see object based on camera position? -static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) { +static PyObject* pybullet_renderImageObsolete(PyObject* self, PyObject* args) { /// request an image from a simulated camera, using a software renderer. struct b3CameraImageData imageData; PyObject* objViewMat, *objProjMat; @@ -2277,7 +2583,8 @@ static PyObject* pybullet_renderImage(PyObject* self, PyObject* args) { b3RequestCameraImageSetPixelResolution(command, width, height); if (pybullet_internalSetVector(objCameraPos, cameraPos) && pybullet_internalSetVector(objTargetPos, targetPos) && - pybullet_internalSetVector(objCameraUp, cameraUp)) { + pybullet_internalSetVector(objCameraUp, cameraUp)) + { b3RequestCameraImageSetViewMatrix(command, cameraPos, targetPos, cameraUp); } else { @@ -3020,15 +3327,35 @@ static PyMethodDef SpamMethods[] = { "[x,y,z] in Cartesian coordinates, flag to select TORQUE_IN_LINK_FRAME or " "TORQUE_IN_WORLD_FRAME coordinates"}, - {"renderImage", pybullet_renderImage, METH_VARARGS, - "Render an image (given the pixel resolution width, height, camera view " - "matrix, projection matrix, near, and far values), and return the " - "8-8-8bit RGB pixel data and floating point depth values" -#ifdef PYBULLET_USE_NUMPY - " as NumPy arrays" -#endif + {"renderImage", pybullet_renderImageObsolete, METH_VARARGS, + "obsolete, please use getCameraImage and getViewProjectionMatrices instead" }, + { "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS, + "Render an image (given the pixel resolution width, height, camera viewMatrix " + ", projectionMatrix and lightDirection), and return the " + "8-8-8bit RGB pixel data and floating point depth values" +#ifdef PYBULLET_USE_NUMPY + " as NumPy arrays" +#endif + }, + + { "computeViewMatrix", (PyCFunction)pybullet_computeViewMatrix, METH_VARARGS | METH_KEYWORDS, + "Compute a camera viewmatrix from camera eye, target position and up vector " + }, + + { "computeViewMatrixFromYawPitchRoll",(PyCFunction)pybullet_computeViewMatrixFromYawPitchRoll, METH_VARARGS | METH_KEYWORDS, + "Compute a camera viewmatrix from camera eye, target position and up vector " + }, + + { "computeProjectionMatrix", (PyCFunction)pybullet_computeProjectionMatrix, METH_VARARGS | METH_KEYWORDS, + "Compute a camera projection matrix from screen left/right/bottom/top/near/far values" + }, + + { "computeProjectionMatrixFOV", (PyCFunction)pybullet_computeProjectionMatrixFOV, METH_VARARGS | METH_KEYWORDS, + "Compute a camera projection matrix from fov, aspect ratio, near, far values" + }, + {"getContactPoints", (PyCFunction)pybullet_getContactPointData, METH_VARARGS | METH_KEYWORDS, "Return existing contact points after the stepSimulation command. " "Optional arguments one or two object unique " diff --git a/examples/pybullet/test.py b/examples/pybullet/test.py index 1a184985f..762026246 100644 --- a/examples/pybullet/test.py +++ b/examples/pybullet/test.py @@ -3,7 +3,7 @@ import time #choose connection method: GUI, DIRECT, SHARED_MEMORY pybullet.connect(pybullet.GUI) - +pybullet.loadURDF("plane.urdf",0,0,-1) #load URDF, given a relative or absolute file+path obj = pybullet.loadURDF("r2d2.urdf") diff --git a/examples/pybullet/testrender.py b/examples/pybullet/testrender.py index da96bbbc5..5935c388f 100644 --- a/examples/pybullet/testrender.py +++ b/examples/pybullet/testrender.py @@ -5,7 +5,7 @@ import pybullet pybullet.connect(pybullet.GUI) pybullet.loadURDF("r2d2.urdf") -camTargetPos = [0,0,0] +camTargetPos = [0.,0.,0.] cameraUp = [0,0,1] cameraPos = [1,1,1] yaw = 40 @@ -18,29 +18,28 @@ pixelWidth = 320 pixelHeight = 240 nearPlane = 0.01 farPlane = 1000 - +lightDirection = [0,1,0] fov = 60 #img_arr = pybullet.renderImage(pixelWidth, pixelHeight) #renderImage(w, h, view[16], projection[16]) #img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane) for pitch in range (0,360,10) : - img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov) - - w=img_arr[0] #width of the image, in pixels - h=img_arr[1] #height of the image, in pixels - rgb=img_arr[2] #color data RGB - dep=img_arr[3] #depth data - - #print 'width = %d height = %d' % (w,h) - - # reshape creates np array - np_img_arr = np.reshape(rgb, (h, w, 4)) - np_img_arr = np_img_arr*(1./255.) - - #show - plt.imshow(np_img_arr,interpolation='none') - #plt.show() - plt.pause(0.01) + viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) + aspect = pixelWidth / pixelHeight; + projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane); + img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection) + w=img_arr[0] + h=img_arr[1] + rgb=img_arr[2] + dep=img_arr[3] + #print 'width = %d height = %d' % (w,h) + # reshape creates np array + np_img_arr = np.reshape(rgb, (h, w, 4)) + np_img_arr = np_img_arr*(1./255.) + #show + plt.imshow(np_img_arr,interpolation='none') + + plt.pause(0.01) pybullet.resetSimulation() diff --git a/examples/pybullet/testrender_np.py b/examples/pybullet/testrender_np.py index 56439dde6..b8fca10eb 100644 --- a/examples/pybullet/testrender_np.py +++ b/examples/pybullet/testrender_np.py @@ -1,3 +1,6 @@ + +#make sure to compile pybullet with PYBULLET_USE_NUMPY enabled, otherwise use testrender.py (slower but compatible without numpy) + import numpy as np import matplotlib.pyplot as plt import pybullet @@ -23,28 +26,30 @@ farPlane = 1000 fov = 60 main_start = time.time() -#img_arr = pybullet.renderImage(pixelWidth, pixelHeight) -#renderImage(w, h, view[16], projection[16]) -#img_arr = pybullet.renderImage(pixelWidth, pixelHeight, cameraPos, camTargetPos, cameraUp, nearPlane, farPlane) for pitch in range (0,360,10) : - start = time.time() - img_arr = pybullet.renderImage(pixelWidth, pixelHeight, camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex, nearPlane, farPlane, fov) - stop = time.time() - print "renderImage %f" % (stop - start) + start = time.time() + viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) + aspect = pixelWidth / pixelHeight; + projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane); + img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, [0,1,0]) + stop = time.time() + print ("renderImage %f" % (stop - start)) - w=img_arr[0] #width of the image, in pixels - h=img_arr[1] #height of the image, in pixels - rgb=img_arr[2] #color data RGB - dep=img_arr[3] #depth data + w=img_arr[0] #width of the image, in pixels + h=img_arr[1] #height of the image, in pixels + rgb=img_arr[2] #color data RGB + dep=img_arr[3] #depth data - #print 'width = %d height = %d' % (w,h) + print 'width = %d height = %d' % (w,h) - #show - plt.imshow(rgb,interpolation='none') - #plt.show() - plt.pause(0.01) + #note that sending the data to matplotlib is really slow + #show + plt.imshow(rgb,interpolation='none') + #plt.show() + plt.pause(0.01) main_stop = time.time() -print "Total time %f" % (main_stop - main_start) + +print ("Total time %f" % (main_stop - main_start)) pybullet.resetSimulation() From 936a104fb245c41af1d186632d44f1ce4e0cd904 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 18 Nov 2016 08:08:46 -0800 Subject: [PATCH 048/102] re-enable samurai.urdf loading for VR demo --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 8bb278673..ee7d06624 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3937,7 +3937,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() m_data->m_hasGround = true; loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); -// loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); // loadUrdf("quadruped/quadruped.urdf", btVector3(2, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); if (m_data->m_gripperRigidbodyFixed == 0) From 9ee1c4ec245ff0fc860fc56c78910d4ab0dd0579 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sat, 19 Nov 2016 17:13:56 -0800 Subject: [PATCH 049/102] regular OR wireframe rendering, not both add option to perform filtering of 'getClosestPoints' using linkA/linkB. don't use 'realtimesimulation' as default add/remove debug items within same thread pybullet, report contact points and normal as [x,y,z] triplet/vector, not 3 scalars separate 'getClosestPointsAlgorithm': box-box doesn't report closest points with positive distance, and the query shouldn't impact regular 'closesst points' --- .../ExampleBrowser/OpenGLExampleBrowser.cpp | 2 +- examples/SharedMemory/PhysicsClientC_API.cpp | 33 +++ examples/SharedMemory/PhysicsClientC_API.h | 4 + .../PhysicsServerCommandProcessor.cpp | 36 ++- .../SharedMemory/PhysicsServerExample.cpp | 223 ++++++++---------- examples/SharedMemory/SharedMemoryCommands.h | 4 + examples/pybullet/pybullet.c | 112 +++++---- .../BroadphaseCollision/btDispatcher.h | 8 +- .../btCollisionConfiguration.h | 3 + .../btCollisionDispatcher.cpp | 28 ++- .../CollisionDispatch/btCollisionDispatcher.h | 8 +- .../CollisionDispatch/btCollisionWorld.cpp | 4 +- .../btCompoundCollisionAlgorithm.cpp | 39 ++- .../btCompoundCompoundCollisionAlgorithm.cpp | 29 ++- .../btConvexConcaveCollisionAlgorithm.cpp | 15 +- .../btDefaultCollisionConfiguration.cpp | 80 +++++++ .../btDefaultCollisionConfiguration.h | 2 + .../Gimpact/btGImpactCollisionAlgorithm.h | 2 +- .../btSoftBodyConcaveCollisionAlgorithm.cpp | 7 +- 19 files changed, 417 insertions(+), 222 deletions(-) diff --git a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp index 962f04437..ca86cda97 100644 --- a/examples/ExampleBrowser/OpenGLExampleBrowser.cpp +++ b/examples/ExampleBrowser/OpenGLExampleBrowser.cpp @@ -1167,7 +1167,7 @@ void OpenGLExampleBrowser::update(float deltaTime) } BT_PROFILE("Render Scene"); sCurrentDemo->renderScene(); - } + } else { B3_PROFILE("physicsDebugDraw"); glPolygonMode( GL_FRONT_AND_BACK, GL_FILL ); diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index d0b0413f1..e61130446 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1504,6 +1504,8 @@ b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClient command->m_requestContactPointArguments.m_startingContactPointIndex = 0; command->m_requestContactPointArguments.m_objectAIndexFilter = -1; command->m_requestContactPointArguments.m_objectBIndexFilter = -1; + command->m_requestContactPointArguments.m_linkIndexAIndexFilter = -2; + command->m_requestContactPointArguments.m_linkIndexBIndexFilter = -2; command->m_updateFlags = 0; return (b3SharedMemoryCommandHandle) command; } @@ -1516,6 +1518,37 @@ void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int body command->m_requestContactPointArguments.m_objectAIndexFilter = bodyUniqueIdA; } +void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION); + command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER; + command->m_requestContactPointArguments.m_linkIndexAIndexFilter= linkIndexA; +} + +void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CONTACT_POINT_INFORMATION); + command->m_updateFlags |= CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER; + command->m_requestContactPointArguments.m_linkIndexBIndexFilter = linkIndexB; +} + +void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA) +{ + b3SetContactFilterLinkA(commandHandle, linkIndexA); +} + +void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB) +{ + b3SetContactFilterLinkB(commandHandle, linkIndexB); +} + + + + void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 529e50e94..e9df467ec 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -123,12 +123,16 @@ void b3RequestCameraImageSetFOVProjectionMatrix(b3SharedMemoryCommandHandle comm b3SharedMemoryCommandHandle b3InitRequestContactPointInformation(b3PhysicsClientHandle physClient); void b3SetContactFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); void b3SetContactFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); +void b3SetContactFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA); +void b3SetContactFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB); void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo); ///compute the closest points between two bodies b3SharedMemoryCommandHandle b3InitClosestDistanceQuery(b3PhysicsClientHandle physClient); void b3SetClosestDistanceFilterBodyA(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdA); +void b3SetClosestDistanceFilterLinkA(b3SharedMemoryCommandHandle commandHandle, int linkIndexA); void b3SetClosestDistanceFilterBodyB(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueIdB); +void b3SetClosestDistanceFilterLinkB(b3SharedMemoryCommandHandle commandHandle, int linkIndexB); void b3SetClosestDistanceThreshold(b3SharedMemoryCommandHandle commandHandle, double distance); void b3GetClosestPointInformation(b3PhysicsClientHandle physClient, struct b3ContactInformation* contactPointInfo); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index ee7d06624..056784ada 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -542,7 +542,7 @@ struct PhysicsServerCommandProcessorInternalData m_kukaGripperMultiBody(0), m_kukaGripperRevolute1(0), m_kukaGripperRevolute2(0), - m_allowRealTimeSimulation(true), + m_allowRealTimeSimulation(false), m_huskyId(-1), m_KukaId(-1), m_sphereId(-1), @@ -2769,6 +2769,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm int bodyUniqueIdA = clientCmd.m_requestContactPointArguments.m_objectAIndexFilter; int bodyUniqueIdB = clientCmd.m_requestContactPointArguments.m_objectBIndexFilter; + bool hasLinkIndexAFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER)); + bool hasLinkIndexBFilter = (0!=(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER)); + + int linkIndexA = clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter; + int linkIndexB = clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter; + btAlignedObjectArray setA; btAlignedObjectArray setB; btAlignedObjectArray setALinkIndex; @@ -2783,15 +2789,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { if (bodyA->m_multiBody->getBaseCollider()) { - setA.push_back(bodyA->m_multiBody->getBaseCollider()); - setALinkIndex.push_back(-1); + if (!hasLinkIndexAFilter || (linkIndexA == -1)) + { + setA.push_back(bodyA->m_multiBody->getBaseCollider()); + setALinkIndex.push_back(-1); + } } for (int i = 0; i < bodyA->m_multiBody->getNumLinks(); i++) { if (bodyA->m_multiBody->getLink(i).m_collider) { - setA.push_back(bodyA->m_multiBody->getLink(i).m_collider); - setALinkIndex.push_back(i); + if (!hasLinkIndexAFilter || (linkIndexA == i)) + { + setA.push_back(bodyA->m_multiBody->getLink(i).m_collider); + setALinkIndex.push_back(i); + } } } } @@ -2811,15 +2823,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { if (bodyB->m_multiBody->getBaseCollider()) { - setB.push_back(bodyB->m_multiBody->getBaseCollider()); - setBLinkIndex.push_back(-1); + if (!hasLinkIndexBFilter || (linkIndexB == -1)) + { + setB.push_back(bodyB->m_multiBody->getBaseCollider()); + setBLinkIndex.push_back(-1); + } } for (int i = 0; i < bodyB->m_multiBody->getNumLinks(); i++) { if (bodyB->m_multiBody->getLink(i).m_collider) { - setB.push_back(bodyB->m_multiBody->getLink(i).m_collider); - setBLinkIndex.push_back(i); + if (!hasLinkIndexBFilter || (linkIndexB ==i)) + { + setB.push_back(bodyB->m_multiBody->getLink(i).m_collider); + setBLinkIndex.push_back(i); + } } } } diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index c4aa9455a..55cefb05a 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -126,10 +126,6 @@ enum MultiThreadedGUIHelperCommunicationEnums eGUIHelperRemoveAllGraphicsInstances, eGUIHelperCopyCameraImageData, eGUIHelperAutogenerateGraphicsObjects, - eGUIUserDebugAddText, - eGUIUserDebugAddLine, - eGUIUserDebugRemoveItem, - eGUIUserDebugRemoveAllItems, }; #include @@ -701,43 +697,36 @@ public: m_tmpText.m_textColorRGB[2] = textColorRGB[2]; m_cs->lock(); - m_cs->setSharedParam(1, eGUIUserDebugAddText); + m_userDebugText.push_back(m_tmpText); m_cs->unlock(); - while (m_cs->getSharedParam(1) != eGUIHelperIdle) - { - b3Clock::usleep(150); - } return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId; } btAlignedObjectArray m_userDebugLines; - UserDebugDrawLine m_tmpLine; virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime ) { - m_tmpLine.m_lifeTime = lifeTime; - m_tmpLine.m_lineWidth = lineWidth; - m_tmpLine.m_itemUniqueId = m_uidGenerator++; - m_tmpLine.m_debugLineFromXYZ[0] = debugLineFromXYZ[0]; - m_tmpLine.m_debugLineFromXYZ[1] = debugLineFromXYZ[1]; - m_tmpLine.m_debugLineFromXYZ[2] = debugLineFromXYZ[2]; + UserDebugDrawLine tmpLine; - m_tmpLine.m_debugLineToXYZ[0] = debugLineToXYZ[0]; - m_tmpLine.m_debugLineToXYZ[1] = debugLineToXYZ[1]; - m_tmpLine.m_debugLineToXYZ[2] = debugLineToXYZ[2]; + tmpLine.m_lifeTime = lifeTime; + tmpLine.m_lineWidth = lineWidth; + tmpLine.m_itemUniqueId = m_uidGenerator++; + tmpLine.m_debugLineFromXYZ[0] = debugLineFromXYZ[0]; + tmpLine.m_debugLineFromXYZ[1] = debugLineFromXYZ[1]; + tmpLine.m_debugLineFromXYZ[2] = debugLineFromXYZ[2]; + + tmpLine.m_debugLineToXYZ[0] = debugLineToXYZ[0]; + tmpLine.m_debugLineToXYZ[1] = debugLineToXYZ[1]; + tmpLine.m_debugLineToXYZ[2] = debugLineToXYZ[2]; - m_tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0]; - m_tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1]; - m_tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2]; + tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0]; + tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1]; + tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2]; m_cs->lock(); - m_cs->setSharedParam(1, eGUIUserDebugAddLine); + m_userDebugLines.push_back(tmpLine); m_cs->unlock(); - while (m_cs->getSharedParam(1) != eGUIHelperIdle) - { - b3Clock::usleep(150); - } return m_userDebugLines[m_userDebugLines.size()-1].m_itemUniqueId; } @@ -747,23 +736,38 @@ public: { m_removeDebugItemUid = debugItemUniqueId; m_cs->lock(); - m_cs->setSharedParam(1, eGUIUserDebugRemoveItem); - m_cs->unlock(); - while (m_cs->getSharedParam(1) != eGUIHelperIdle) + + for (int i = 0; iunlock(); + } virtual void removeAllUserDebugItems( ) { m_cs->lock(); - m_cs->setSharedParam(1, eGUIUserDebugRemoveAllItems); + m_userDebugLines.clear(); + m_userDebugText.clear(); + m_uidGenerator = 0; m_cs->unlock(); - while (m_cs->getSharedParam(1) != eGUIHelperIdle) - { - b3Clock::usleep(150); - } } @@ -825,6 +829,7 @@ public: virtual bool wantsTermination(); virtual bool isConnected(); virtual void renderScene(); + void drawUserDebugLines(); virtual void exitPhysics(); virtual void physicsDebugDraw(int debugFlags); @@ -1247,60 +1252,6 @@ void PhysicsServerExample::stepSimulation(float deltaTime) break; } - case eGUIUserDebugAddText: - { - m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText); - m_multiThreadedHelper->getCriticalSection()->lock(); - m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); - m_multiThreadedHelper->getCriticalSection()->unlock(); - break; - } - case eGUIUserDebugAddLine: - { - m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine); - m_multiThreadedHelper->getCriticalSection()->lock(); - m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); - m_multiThreadedHelper->getCriticalSection()->unlock(); - break; - } - case eGUIUserDebugRemoveItem: - { - for (int i=0;im_userDebugLines.size();i++) - { - if (m_multiThreadedHelper->m_userDebugLines[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) - { - m_multiThreadedHelper->m_userDebugLines.swap(i,m_multiThreadedHelper->m_userDebugLines.size()-1); - m_multiThreadedHelper->m_userDebugLines.pop_back(); - break; - } - } - - - for (int i=0;im_userDebugText.size();i++) - { - if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) - { - m_multiThreadedHelper->m_userDebugText.swap(i,m_multiThreadedHelper->m_userDebugText.size()-1); - m_multiThreadedHelper->m_userDebugText.pop_back(); - break; - } - } - - m_multiThreadedHelper->getCriticalSection()->lock(); - m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); - m_multiThreadedHelper->getCriticalSection()->unlock(); - break; - } - case eGUIUserDebugRemoveAllItems: - { - m_multiThreadedHelper->m_userDebugLines.clear(); - m_multiThreadedHelper->m_userDebugText.clear(); - m_multiThreadedHelper->m_uidGenerator = 0; - m_multiThreadedHelper->getCriticalSection()->lock(); - m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); - m_multiThreadedHelper->getCriticalSection()->unlock(); - break; - } case eGUIHelperIdle: { break; @@ -1353,7 +1304,53 @@ extern int gHuskyId; extern btTransform huskyTr; +void PhysicsServerExample::drawUserDebugLines() +{ + static char line0[1024]; + static char line1[1024]; + //draw all user-debug-lines + + //add array of lines + + //draw all user- 'text3d' messages + if (m_multiThreadedHelper) + { + m_args[0].m_cs->lock(); + for (int i = 0; im_userDebugLines.size(); i++) + { + btVector3 from; + from.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[0], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[1], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[2]); + btVector3 toX; + toX.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[0], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[1], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[2]); + + btVector3 color; + color.setValue(m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[0], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[1], + m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[2]); + + + m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, m_multiThreadedHelper->m_userDebugLines[i].m_lineWidth); + } + + for (int i = 0; im_userDebugText.size(); i++) + { + m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text, + m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[0], + m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[1], + m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[2], + m_multiThreadedHelper->m_userDebugText[i].textSize); + + } + m_args[0].m_cs->unlock(); + + } + +} void PhysicsServerExample::renderScene() { @@ -1369,48 +1366,8 @@ void PhysicsServerExample::renderScene() B3_PROFILE("PhysicsServerExample::RenderScene"); - static char line0[1024]; - static char line1[1024]; - - //draw all user-debug-lines - - //add array of lines - - //draw all user- 'text3d' messages - if (m_multiThreadedHelper) - { - - for (int i=0;im_userDebugLines.size();i++) - { - btVector3 from; - from.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[0], - m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[1], - m_multiThreadedHelper->m_userDebugLines[i].m_debugLineFromXYZ[2]); - btVector3 toX; - toX.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[0], - m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[1], - m_multiThreadedHelper->m_userDebugLines[i].m_debugLineToXYZ[2]); - - btVector3 color; - color.setValue( m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[0], - m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[1], - m_multiThreadedHelper->m_userDebugLines[i].m_debugLineColorRGB[2]); - - - m_guiHelper->getAppInterface()->m_renderer->drawLine(from, toX, color, m_multiThreadedHelper->m_userDebugLines[i].m_lineWidth); - } - - for (int i=0;im_userDebugText.size();i++) - { - m_guiHelper->getAppInterface()->drawText3D(m_multiThreadedHelper->m_userDebugText[i].m_text, - m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[0], - m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[1], - m_multiThreadedHelper->m_userDebugText[i].m_textPositionXYZ[2], - m_multiThreadedHelper->m_userDebugText[i].textSize); - - } - } + drawUserDebugLines(); if (gEnableRealTimeSimVR) { @@ -1424,6 +1381,7 @@ void PhysicsServerExample::renderScene() static int count = 0; count++; +#if 0 if (0 == (count & 1)) { btScalar curTime = m_clock.getTimeSeconds(); @@ -1444,6 +1402,7 @@ void PhysicsServerExample::renderScene() worseFps = 1000000; } } +#endif #ifdef BT_ENABLE_VR if ((gInternalSimFlags&2 ) && m_tinyVrGui==0) @@ -1544,6 +1503,8 @@ void PhysicsServerExample::renderScene() void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags) { + drawUserDebugLines(); + ///debug rendering m_physicsServer.physicsDebugDraw(debugDrawFlags); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 40b62f518..515fa5079 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -154,6 +154,8 @@ enum EnumRequestContactDataUpdateFlags { CMD_REQUEST_CONTACT_POINT_HAS_QUERY_MODE=1, CMD_REQUEST_CONTACT_POINT_HAS_CLOSEST_DISTANCE_THRESHOLD=2, + CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER = 4, + CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER = 8, }; struct RequestContactDataArgs @@ -161,6 +163,8 @@ struct RequestContactDataArgs int m_startingContactPointIndex; int m_objectAIndexFilter; int m_objectBIndexFilter; + int m_linkIndexAIndexFilter; + int m_linkIndexBIndexFilter; double m_closestDistanceThreshold; int m_mode; }; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 17e782b8b..8163fbd1b 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1501,7 +1501,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj res = pybullet_internalSetVectord(textPositionObj,posXYZ); if (!res) { - PyErr_SetString(SpamError, "Error converting lineFrom[3]"); + PyErr_SetString(SpamError, "Error converting textPositionObj[3]"); return NULL; } @@ -1510,7 +1510,7 @@ static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObj res = pybullet_internalSetVectord(textColorRGBObj,colorRGB); if (!res) { - PyErr_SetString(SpamError, "Error converting lineTo[3]"); + PyErr_SetString(SpamError, "Error converting textColorRGBObj[3]"); return NULL; } } @@ -1848,23 +1848,22 @@ static PyObject* MyConvertContactPoint( struct b3ContactInformation* contactPoin 2 int m_bodyUniqueIdB; 3 int m_linkIndexA; 4 int m_linkIndexB; - 5-6-7 double m_positionOnAInWS[3];//contact point location on object A, + 5 double m_positionOnAInWS[3];//contact point location on object A, in world space coordinates - 8-9-10 double m_positionOnBInWS[3];//contact point location on object + 6 double m_positionOnBInWS[3];//contact point location on object A, in world space coordinates - 11-12-13 double m_contactNormalOnBInWS[3];//the separating contact + 7 double m_contactNormalOnBInWS[3];//the separating contact normal, pointing from object B towards object A - 14 double m_contactDistance;//negative number is penetration, positive + 8 double m_contactDistance;//negative number is penetration, positive is distance. - - 15 double m_normalForce; + 9 double m_normalForce; */ int i; PyObject* pyResultList = PyTuple_New(contactPointPtr->m_numContactPoints); for (i = 0; i < contactPointPtr->m_numContactPoints; i++) { - PyObject* contactObList = PyTuple_New(16); // see above 16 fields + PyObject* contactObList = PyTuple_New(10); // see above 10 fields PyObject* item; item = PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_contactFlags); @@ -1881,42 +1880,61 @@ static PyObject* MyConvertContactPoint( struct b3ContactInformation* contactPoin item = PyInt_FromLong(contactPointPtr->m_contactPointData[i].m_linkIndexB); PyTuple_SetItem(contactObList, 4, item); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_positionOnAInWS[0]); - PyTuple_SetItem(contactObList, 5, item); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_positionOnAInWS[1]); - PyTuple_SetItem(contactObList, 6, item); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_positionOnAInWS[2]); - PyTuple_SetItem(contactObList, 7, item); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_positionOnBInWS[0]); - PyTuple_SetItem(contactObList, 8, item); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_positionOnBInWS[1]); - PyTuple_SetItem(contactObList, 9, item); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_positionOnBInWS[2]); - PyTuple_SetItem(contactObList, 10, item); + { + PyObject* posAObj = PyTuple_New(3); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[0]); - PyTuple_SetItem(contactObList, 11, item); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[1]); - PyTuple_SetItem(contactObList, 12, item); - item = PyFloat_FromDouble( - contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[2]); - PyTuple_SetItem(contactObList, 13, item); + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_positionOnAInWS[0]); + PyTuple_SetItem(posAObj, 0, item); + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_positionOnAInWS[1]); + PyTuple_SetItem(posAObj, 1, item); + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_positionOnAInWS[2]); + PyTuple_SetItem(posAObj, 2, item); + + PyTuple_SetItem(contactObList, 5, posAObj); + } + + { + PyObject* posBObj = PyTuple_New(3); + + + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_positionOnBInWS[0]); + PyTuple_SetItem(posBObj, 0, item); + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_positionOnBInWS[1]); + PyTuple_SetItem(posBObj, 1, item); + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_positionOnBInWS[2]); + PyTuple_SetItem(posBObj, 2, item); + + PyTuple_SetItem(contactObList, 6, posBObj); + + } + + { + PyObject* normalOnB = PyTuple_New(3); + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[0]); + PyTuple_SetItem(normalOnB, 0, item); + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[1]); + PyTuple_SetItem(normalOnB, 1, item); + item = PyFloat_FromDouble( + contactPointPtr->m_contactPointData[i].m_contactNormalOnBInWS[2]); + PyTuple_SetItem(normalOnB, 2, item); + PyTuple_SetItem(contactObList, 7, normalOnB); + } item = PyFloat_FromDouble( contactPointPtr->m_contactPointData[i].m_contactDistance); - PyTuple_SetItem(contactObList, 14, item); + PyTuple_SetItem(contactObList, 8, item); item = PyFloat_FromDouble( contactPointPtr->m_contactPointData[i].m_normalForce); - PyTuple_SetItem(contactObList, 15, item); + PyTuple_SetItem(contactObList, 9, item); PyTuple_SetItem(pyResultList, i, contactObList); } @@ -1982,6 +2000,9 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py int size = PySequence_Size(args); int bodyUniqueIdA = -1; int bodyUniqueIdB = -1; + int linkIndexA = -2; + int linkIndexB = -2; + double distanceThreshold = 0.f; b3SharedMemoryCommandHandle commandHandle; @@ -1991,15 +2012,15 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py PyObject* pyResultList = 0; - static char *kwlist[] = { "bodyA", "bodyB", "distance", NULL }; + static char *kwlist[] = { "bodyA", "bodyB", "distance", "linkIndexA","linkIndexB",NULL }; if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } - if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid", kwlist, - &bodyUniqueIdA, &bodyUniqueIdB, &distanceThreshold)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "iid|ii", kwlist, + &bodyUniqueIdA, &bodyUniqueIdB, &distanceThreshold, &linkIndexA, &linkIndexB)) return NULL; @@ -2007,7 +2028,14 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py b3SetClosestDistanceFilterBodyA(commandHandle, bodyUniqueIdA); b3SetClosestDistanceFilterBodyB(commandHandle, bodyUniqueIdB); b3SetClosestDistanceThreshold(commandHandle, distanceThreshold); - + if (linkIndexA >= -1) + { + b3SetClosestDistanceFilterLinkA(commandHandle, linkIndexA); + } + if (linkIndexB >= -1) + { + b3SetClosestDistanceFilterLinkB(commandHandle, linkIndexB); + } statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); statusType = b3GetStatusType(statusHandle); diff --git a/src/BulletCollision/BroadphaseCollision/btDispatcher.h b/src/BulletCollision/BroadphaseCollision/btDispatcher.h index 89c307d14..7b0f9489a 100644 --- a/src/BulletCollision/BroadphaseCollision/btDispatcher.h +++ b/src/BulletCollision/BroadphaseCollision/btDispatcher.h @@ -64,6 +64,12 @@ struct btDispatcherInfo btScalar m_convexConservativeDistanceThreshold; }; +enum ebtDispatcherQueryType +{ + BT_CONTACT_POINT_ALGORITHMS = 1, + BT_CLOSEST_POINT_ALGORITHMS = 2 +}; + ///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs. ///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic). class btDispatcher @@ -73,7 +79,7 @@ class btDispatcher public: virtual ~btDispatcher() ; - virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold=0) = 0; + virtual btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType) = 0; virtual btPersistentManifold* getNewManifold(const btCollisionObject* b0,const btCollisionObject* b1)=0; diff --git a/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h b/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h index 669498494..35f77d4e6 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionConfiguration.h @@ -40,6 +40,9 @@ public: virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0; + virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) = 0; + + }; #endif //BT_COLLISION_CONFIGURATION diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp index cf1adbefa..737067ef9 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp @@ -50,8 +50,10 @@ m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESH { for (int j=0;jgetCollisionAlgorithmCreateFunc(i,j); - btAssert(m_doubleDispatch[i][j]); + m_doubleDispatchContactPoints[i][j] = m_collisionConfiguration->getCollisionAlgorithmCreateFunc(i,j); + btAssert(m_doubleDispatchContactPoints[i][j]); + m_doubleDispatchClosestPoints[i][j] = m_collisionConfiguration->getClosestPointsAlgorithmCreateFunc(i, j); + } } @@ -61,7 +63,12 @@ m_dispatcherFlags(btCollisionDispatcher::CD_USE_RELATIVE_CONTACT_BREAKING_THRESH void btCollisionDispatcher::registerCollisionCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc) { - m_doubleDispatch[proxyType0][proxyType1] = createFunc; + m_doubleDispatchContactPoints[proxyType0][proxyType1] = createFunc; +} + +void btCollisionDispatcher::registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc) +{ + m_doubleDispatchClosestPoints[proxyType0][proxyType1] = createFunc; } btCollisionDispatcher::~btCollisionDispatcher() @@ -138,14 +145,23 @@ void btCollisionDispatcher::releaseManifold(btPersistentManifold* manifold) -btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold) + +btCollisionAlgorithm* btCollisionDispatcher::findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType algoType) { btCollisionAlgorithmConstructionInfo ci; ci.m_dispatcher1 = this; ci.m_manifold = sharedManifold; - btCollisionAlgorithm* algo = m_doubleDispatch[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci,body0Wrap,body1Wrap); + btCollisionAlgorithm* algo = 0; + if (algoType == BT_CONTACT_POINT_ALGORITHMS) + { + algo = m_doubleDispatchContactPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap); + } + else + { + algo = m_doubleDispatchClosestPoints[body0Wrap->getCollisionShape()->getShapeType()][body1Wrap->getCollisionShape()->getShapeType()]->CreateCollisionAlgorithm(ci, body0Wrap, body1Wrap); + } return algo; } @@ -262,7 +278,7 @@ void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, //dispatcher will keep algorithms persistent in the collision pair if (!collisionPair.m_algorithm) { - collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap); + collisionPair.m_algorithm = dispatcher.findAlgorithm(&obj0Wrap,&obj1Wrap,0, BT_CONTACT_POINT_ALGORITHMS); } if (collisionPair.m_algorithm) diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h index 92696ee54..b97ee3c1b 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h @@ -57,7 +57,9 @@ protected: btPoolAllocator* m_persistentManifoldPoolAllocator; - btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; + btCollisionAlgorithmCreateFunc* m_doubleDispatchContactPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; + + btCollisionAlgorithmCreateFunc* m_doubleDispatchClosestPoints[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES]; btCollisionConfiguration* m_collisionConfiguration; @@ -84,6 +86,8 @@ public: ///registerCollisionCreateFunc allows registration of custom/alternative collision create functions void registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc); + void registerClosestPointsCreateFunc(int proxyType0, int proxyType1, btCollisionAlgorithmCreateFunc *createFunc); + int getNumManifolds() const { return int( m_manifoldsPtr.size()); @@ -115,7 +119,7 @@ public: virtual void clearManifold(btPersistentManifold* manifold); - btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold = 0); + btCollisionAlgorithm* findAlgorithm(const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,btPersistentManifold* sharedManifold, ebtDispatcherQueryType queryType); virtual bool needsCollision(const btCollisionObject* body0,const btCollisionObject* body1); diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 3196369e1..133994112 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -1231,7 +1231,7 @@ struct btSingleContactCallback : public btBroadphaseAabbCallback btCollisionObjectWrapper ob0(0,m_collisionObject->getCollisionShape(),m_collisionObject,m_collisionObject->getWorldTransform(),-1,-1); btCollisionObjectWrapper ob1(0,collisionObject->getCollisionShape(),collisionObject,collisionObject->getWorldTransform(),-1,-1); - btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1); + btCollisionAlgorithm* algorithm = m_world->getDispatcher()->findAlgorithm(&ob0,&ob1,0, BT_CLOSEST_POINT_ALGORITHMS); if (algorithm) { btBridgedManifoldResult contactPointResult(&ob0,&ob1, m_resultCallback); @@ -1267,7 +1267,7 @@ void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionOb btCollisionObjectWrapper obA(0,colObjA->getCollisionShape(),colObjA,colObjA->getWorldTransform(),-1,-1); btCollisionObjectWrapper obB(0,colObjB->getCollisionShape(),colObjB,colObjB->getWorldTransform(),-1,-1); - btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB); + btCollisionAlgorithm* algorithm = getDispatcher()->findAlgorithm(&obA,&obB, 0, BT_CLOSEST_POINT_ALGORITHMS); if (algorithm) { btBridgedManifoldResult contactPointResult(&obA,&obB, resultCallback); diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 13cddc11a..1fc960df5 100644 --- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -65,7 +65,13 @@ void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(const btCollisionO const btCollisionShape* childShape = compoundShape->getChildShape(i); btCollisionObjectWrapper childWrap(colObjWrap,childShape,colObjWrap->getCollisionObject(),colObjWrap->getWorldTransform(),-1,i);//wrong child trans, but unused (hopefully) - m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold); + m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(&childWrap,otherObjWrap,m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS); + + + btAlignedObjectArray m_childCollisionAlgorithmsContact; + btAlignedObjectArray m_childCollisionAlgorithmsClosestPoints; + + } } } @@ -128,8 +134,14 @@ public: btTransform newChildWorldTrans = orgTrans*childTrans ; //perform an AABB check first - btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1; + btVector3 aabbMin0,aabbMax0; childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0); + + btVector3 extendAabb(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold); + aabbMin0 -= extendAabb; + aabbMax0 += extendAabb; + + btVector3 aabbMin1, aabbMax1; m_otherObjWrap->getCollisionShape()->getAabb(m_otherObjWrap->getWorldTransform(),aabbMin1,aabbMax1); if (gCompoundChildShapePairCallback) @@ -142,12 +154,22 @@ public: { btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap,childShape,m_compoundColObjWrap->getCollisionObject(),newChildWorldTrans,-1,index); + + btCollisionAlgorithm* algo = 0; - - //the contactpoint is still projected back using the original inverted worldtrans - if (!m_childCollisionAlgorithms[index]) - m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap,m_otherObjWrap,m_sharedManifold); - + if (m_resultOut->m_closestPointDistanceThreshold > 0) + { + algo = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, 0, BT_CLOSEST_POINT_ALGORITHMS); + } + else + { + //the contactpoint is still projected back using the original inverted worldtrans + if (!m_childCollisionAlgorithms[index]) + { + m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(&compoundWrap, m_otherObjWrap, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS); + } + algo = m_childCollisionAlgorithms[index]; + } const btCollisionObjectWrapper* tmpWrap = 0; @@ -164,8 +186,7 @@ public: m_resultOut->setShapeIdentifiersB(-1,index); } - - m_childCollisionAlgorithms[index]->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut); + algo->processCollision(&compoundWrap,m_otherObjWrap,m_dispatchInfo,m_resultOut); #if 0 if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp index fcaa9f851..8dd7e4403 100644 --- a/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp @@ -164,9 +164,7 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide btVector3 thresholdVec(m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold, m_resultOut->m_closestPointDistanceThreshold); aabbMin0 -= thresholdVec; - aabbMin1 -= thresholdVec; aabbMax0 += thresholdVec; - aabbMax1 += thresholdVec; if (gCompoundCompoundChildShapePairCallback) { @@ -183,17 +181,24 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide btSimplePair* pair = m_childCollisionAlgorithmCache->findPair(childIndex0,childIndex1); btCollisionAlgorithm* colAlgo = 0; + if (m_resultOut->m_closestPointDistanceThreshold > 0) + { + colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, 0, BT_CLOSEST_POINT_ALGORITHMS); + } + else + { + if (pair) + { + colAlgo = (btCollisionAlgorithm*)pair->m_userPointer; - if (pair) - { - colAlgo = (btCollisionAlgorithm*)pair->m_userPointer; - - } else - { - colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0,&compoundWrap1,m_sharedManifold); - pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0,childIndex1); - btAssert(pair); - pair->m_userPointer = colAlgo; + } + else + { + colAlgo = m_dispatcher->findAlgorithm(&compoundWrap0, &compoundWrap1, m_sharedManifold, BT_CONTACT_POINT_ALGORITHMS); + pair = m_childCollisionAlgorithmCache->addOverlappingPair(childIndex0, childIndex1); + btAssert(pair); + pair->m_userPointer = colAlgo; + } } btAssert(colAlgo); diff --git a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp index 322b1288d..c774383dc 100644 --- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp @@ -118,8 +118,16 @@ partId, int triangleIndex) btCollisionObjectWrapper triObWrap(m_triBodyWrap,&tm,m_triBodyWrap->getCollisionObject(),m_triBodyWrap->getWorldTransform(),partId,triangleIndex);//correct transform? - btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap,&triObWrap,m_manifoldPtr); - + btCollisionAlgorithm* colAlgo = 0; + + if (m_resultOut->m_closestPointDistanceThreshold > 0) + { + colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, 0, BT_CLOSEST_POINT_ALGORITHMS); + } + else + { + colAlgo = ci.m_dispatcher1->findAlgorithm(m_convexBodyWrap, &triObWrap, m_manifoldPtr, BT_CONTACT_POINT_ALGORITHMS); + } const btCollisionObjectWrapper* tmpWrap = 0; if (m_resultOut->getBody0Internal() == m_triBodyWrap->getCollisionObject()) @@ -170,7 +178,8 @@ void btConvexTriangleCallback::setTimeStepAndCounters(btScalar collisionMarginTr const btCollisionShape* convexShape = static_cast(m_convexBodyWrap->getCollisionShape()); //CollisionShape* triangleShape = static_cast(triBody->m_collisionShape); convexShape->getAabb(convexInTriangleSpace,m_aabbMin,m_aabbMax); - btScalar extraMargin = collisionMarginTriangle; + btScalar extraMargin = collisionMarginTriangle+ resultOut->m_closestPointDistanceThreshold; + btVector3 extra(extraMargin,extraMargin,extraMargin); m_aabbMax += extra; diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp index 9e04d2aae..f6e4e57b0 100644 --- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp +++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp @@ -198,6 +198,86 @@ btDefaultCollisionConfiguration::~btDefaultCollisionConfiguration() } +btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1) +{ + + + if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) + { + return m_sphereSphereCF; + } +#ifdef USE_BUGGY_SPHERE_BOX_ALGORITHM + if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == BOX_SHAPE_PROXYTYPE)) + { + return m_sphereBoxCF; + } + + if ((proxyType0 == BOX_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) + { + return m_boxSphereCF; + } +#endif //USE_BUGGY_SPHERE_BOX_ALGORITHM + + + if ((proxyType0 == SPHERE_SHAPE_PROXYTYPE) && (proxyType1 == TRIANGLE_SHAPE_PROXYTYPE)) + { + return m_sphereTriangleCF; + } + + if ((proxyType0 == TRIANGLE_SHAPE_PROXYTYPE) && (proxyType1 == SPHERE_SHAPE_PROXYTYPE)) + { + return m_triangleSphereCF; + } + + if (btBroadphaseProxy::isConvex(proxyType0) && (proxyType1 == STATIC_PLANE_PROXYTYPE)) + { + return m_convexPlaneCF; + } + + if (btBroadphaseProxy::isConvex(proxyType1) && (proxyType0 == STATIC_PLANE_PROXYTYPE)) + { + return m_planeConvexCF; + } + + + + if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConvex(proxyType1)) + { + return m_convexConvexCreateFunc; + } + + if (btBroadphaseProxy::isConvex(proxyType0) && btBroadphaseProxy::isConcave(proxyType1)) + { + return m_convexConcaveCreateFunc; + } + + if (btBroadphaseProxy::isConvex(proxyType1) && btBroadphaseProxy::isConcave(proxyType0)) + { + return m_swappedConvexConcaveCreateFunc; + } + + + if (btBroadphaseProxy::isCompound(proxyType0) && btBroadphaseProxy::isCompound(proxyType1)) + { + return m_compoundCompoundCreateFunc; + } + + if (btBroadphaseProxy::isCompound(proxyType0)) + { + return m_compoundCreateFunc; + } + else + { + if (btBroadphaseProxy::isCompound(proxyType1)) + { + return m_swappedCompoundCreateFunc; + } + } + + //failed to find an algorithm + return m_emptyCreateFunc; + +} btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) { diff --git a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h index 93a45126b..17c7596cf 100644 --- a/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h +++ b/src/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h @@ -103,6 +103,8 @@ public: virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1); + virtual btCollisionAlgorithmCreateFunc* getClosestPointsAlgorithmCreateFunc(int proxyType0, int proxyType1); + ///Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. ///By default, this feature is disabled for best performance. ///@param numPerturbationIterations controls the number of collision queries. Set it to zero to disable the feature. diff --git a/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h b/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h index f85a94cb4..3e5675f72 100644 --- a/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h +++ b/src/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h @@ -122,7 +122,7 @@ protected: checkManifold(body0Wrap,body1Wrap); btCollisionAlgorithm * convex_algorithm = m_dispatcher->findAlgorithm( - body0Wrap,body1Wrap,getLastManifold()); + body0Wrap,body1Wrap,getLastManifold(), BT_CONTACT_POINT_ALGORITHMS); return convex_algorithm ; } diff --git a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp index 9f0d44526..ab84bddf2 100644 --- a/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp +++ b/src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp @@ -120,8 +120,8 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1); //btCollisionObjectWrapper triBody(0,tm, ob, btTransform::getIdentity());//ob->getWorldTransform());//?? btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex); - - btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr); + ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS; + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0, algoType);//m_manifoldPtr); colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut); colAlgo->~btCollisionAlgorithm(); @@ -164,7 +164,8 @@ void btSoftBodyTriangleCallback::processTriangle(btVector3* triangle,int partId, btCollisionObjectWrapper softBody(0,m_softBody->getCollisionShape(),m_softBody,m_softBody->getWorldTransform(),-1,-1); btCollisionObjectWrapper triBody(0,tm, m_triBody, m_triBody->getWorldTransform(),partId, triangleIndex);//btTransform::getIdentity());//?? - btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0);//m_manifoldPtr); + ebtDispatcherQueryType algoType = m_resultOut->m_closestPointDistanceThreshold > 0 ? BT_CLOSEST_POINT_ALGORITHMS : BT_CONTACT_POINT_ALGORITHMS; + btCollisionAlgorithm* colAlgo = ci.m_dispatcher1->findAlgorithm(&softBody,&triBody,0, algoType);//m_manifoldPtr); colAlgo->processCollision(&softBody,&triBody,*m_dispatchInfoPtr,m_resultOut); colAlgo->~btCollisionAlgorithm(); From 93ba8af0238bc0b6e4f5bcc732f533c34fcce6cf Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Sun, 20 Nov 2016 12:52:12 -0800 Subject: [PATCH 050/102] Add shared memory API to change light color. --- examples/SharedMemory/PhysicsClientC_API.cpp | 11 +++++++++++ examples/SharedMemory/PhysicsClientC_API.h | 1 + .../PhysicsServerCommandProcessor.cpp | 5 +++++ examples/SharedMemory/SharedMemoryCommands.h | 6 ++++-- .../TinyRendererVisualShapeConverter.cpp | 19 +++++++++++++++++-- .../TinyRendererVisualShapeConverter.h | 1 + examples/TinyRenderer/TinyRenderer.cpp | 11 +++++++++-- examples/TinyRenderer/TinyRenderer.h | 1 + 8 files changed, 49 insertions(+), 6 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index d0b0413f1..1edfc5edf 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1244,6 +1244,17 @@ void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHa command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION; } +void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + for (int i = 0; i<3; i++) + { + command->m_requestPixelDataArguments.m_lightColor[i] = lightColor[i]; + } + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR; +} void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]) { diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 529e50e94..023962c2a 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -97,6 +97,7 @@ b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physC void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]); void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]); +void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]); void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index ee7d06624..373f11989 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1420,6 +1420,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { m_data->m_visualConverter.setLightDirection(clientCmd.m_requestPixelDataArguments.m_lightDirection[0], clientCmd.m_requestPixelDataArguments.m_lightDirection[1], clientCmd.m_requestPixelDataArguments.m_lightDirection[2]); } + + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR) != 0) + { + m_data->m_visualConverter.setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]); + } if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0) { diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 40b62f518..07c40d90c 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -139,13 +139,15 @@ struct RequestPixelDataArgs int m_pixelWidth; int m_pixelHeight; float m_lightDirection[3]; + float m_lightColor[3]; }; enum EnumRequestPixelDataUpdateFlags { REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1, - REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4, - REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=8, + REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=2, + REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=4, + REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8, //don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 676ca65d3..34478bee7 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -75,6 +75,8 @@ struct TinyRendererVisualShapeConverterInternalData b3AlignedObjectArray m_segmentationMaskBuffer; btVector3 m_lightDirection; bool m_hasLightDirection; + btVector3 m_lightColor; + bool m_hasLightColor; SimpleCamera m_camera; @@ -83,7 +85,8 @@ struct TinyRendererVisualShapeConverterInternalData m_swWidth(START_WIDTH), m_swHeight(START_HEIGHT), m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB), - m_hasLightDirection(false) + m_hasLightDirection(false), + m_hasLightColor(false) { m_depthBuffer.resize(m_swWidth*m_swHeight); m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1); @@ -117,6 +120,11 @@ void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float m_data->m_hasLightDirection = true; } +void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z) +{ + m_data->m_lightColor.setValue(x, y, z); + m_data->m_hasLightColor = true; +} void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut, b3VisualShapeData& visualShapeOut) { @@ -704,6 +712,12 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo lightDirWorld.normalize(); + btVector3 lightColor(1.0,1.0,1.0); + if (m_data->m_hasLightColor) + { + lightColor = m_data->m_lightColor; + } + // printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); for (int i=0;im_swRenderInstances.size();i++) { @@ -737,6 +751,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); renderObj->m_lightDirWorld = lightDirWorld; + renderObj->m_lightColor = lightColor; } } TinyRenderer::renderObject(*renderObj); @@ -900,4 +915,4 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename) return registerTexture(image, width, height); } return -1; -} \ No newline at end of file +} diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index 1a4a02f76..b2ed166e6 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -33,6 +33,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void getWidthAndHeight(int& width, int& height); void setWidthAndHeight(int width, int height); void setLightDirection(float x, float y, float z); + void setLightColor(float x, float y, float z); void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 0a5b7c861..76b9e4053 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -19,6 +19,7 @@ struct Shader : public IShader { Model* m_model; Vec3f m_light_dir_local; + Vec3f m_light_color; Matrix& m_modelMat; Matrix m_invModelMat; @@ -32,9 +33,10 @@ struct Shader : public IShader { mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS //mat<3,3,float> ndc_tri; // triangle in normalized device coordinates - Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) + Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) :m_model(model), m_light_dir_local(light_dir_local), + m_light_color(light_color), m_modelView1(modelView), m_projectionMatrix(projectionMatrix), m_modelMat(modelMat), @@ -83,6 +85,10 @@ struct Shader : public IShader { color.bgra[1] *= m_colorRGBA[1]; color.bgra[2] *= m_colorRGBA[2]; color.bgra[3] *= m_colorRGBA[3]; + + color.bgra[0] *= m_light_color[0]; + color.bgra[1] *= m_light_color[1]; + color.bgra[2] *= m_light_color[2]; return false; } @@ -260,6 +266,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) int height = renderData.m_rgbColorBuffer.get_height(); Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); + Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]); Model* model = renderData.m_model; if (0==model) return; @@ -278,7 +285,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) { Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); + Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); //printf("Render %d triangles.\n",model->nfaces()); for (int i=0; infaces(); i++) diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 1819790a6..fcb8298bd 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -18,6 +18,7 @@ struct TinyRenderObjectData Matrix m_viewportMatrix; btVector3 m_localScaling; btVector3 m_lightDirWorld; + btVector3 m_lightColor; //Model (vertices, indices, textures, shader) Matrix m_modelMatrix; From be5b8a3d7b5536920164f54d40e7c07423498341 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Sun, 20 Nov 2016 13:14:18 -0800 Subject: [PATCH 051/102] Set light color in pybullet. --- examples/pybullet/pybullet.c | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 17e782b8b..1e3c10a38 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2209,17 +2209,18 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py /// Render an image from the current timestep of the simulation, width, height are required, other args are optional -// getCameraImage(w, h, view[16], projection[16], lightpos[3]) +// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3]) static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) { /// request an image from a simulated camera, using a software renderer. struct b3CameraImageData imageData; - PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0; + PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0; int width, height; int size = PySequence_Size(args); float viewMatrix[16]; float projectionMatrix[16]; float lightDir[3]; + float lightColor[3]; // inialize cmd b3SharedMemoryCommandHandle command; @@ -2232,9 +2233,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec command = b3InitRequestCameraImage(sm); // set camera resolution, optionally view, projection matrix, light direction - static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection",NULL }; + static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", NULL }; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj)) { return NULL; } @@ -2245,11 +2246,16 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec { b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); } - //set light pos only if function succeeds + //set light direction only if function succeeds if (pybullet_internalSetVector(lightDirObj, lightDir)) { b3RequestCameraImageSetLightDirection(command, lightDir); } + //set light color only if function succeeds + if (pybullet_internalSetVector(lightColorObj, lightColor)) + { + b3RequestCameraImageSetLightColor(command, lightColor); + } if (b3CanSubmitCommand(sm)) From f9c1e19587d5d0d0a87a70a1b8c1b85bc4dbafc4 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sun, 20 Nov 2016 15:38:42 -0800 Subject: [PATCH 052/102] revert 'addUserDebugLine/Text' to lockless rendering on main thread, at the cost of slower add/remove for now. --- .../SharedMemory/PhysicsServerExample.cpp | 136 ++++++++++++------ 1 file changed, 92 insertions(+), 44 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 55cefb05a..bf3bf20b5 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -126,6 +126,10 @@ enum MultiThreadedGUIHelperCommunicationEnums eGUIHelperRemoveAllGraphicsInstances, eGUIHelperCopyCameraImageData, eGUIHelperAutogenerateGraphicsObjects, + eGUIUserDebugAddText, + eGUIUserDebugAddLine, + eGUIUserDebugRemoveItem, + eGUIUserDebugRemoveAllItems, }; #include @@ -697,36 +701,43 @@ public: m_tmpText.m_textColorRGB[2] = textColorRGB[2]; m_cs->lock(); - m_userDebugText.push_back(m_tmpText); + m_cs->setSharedParam(1, eGUIUserDebugAddText); m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(150); + } return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId; } btAlignedObjectArray m_userDebugLines; + UserDebugDrawLine m_tmpLine; virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime ) { - UserDebugDrawLine tmpLine; + m_tmpLine.m_lifeTime = lifeTime; + m_tmpLine.m_lineWidth = lineWidth; + m_tmpLine.m_itemUniqueId = m_uidGenerator++; + m_tmpLine.m_debugLineFromXYZ[0] = debugLineFromXYZ[0]; + m_tmpLine.m_debugLineFromXYZ[1] = debugLineFromXYZ[1]; + m_tmpLine.m_debugLineFromXYZ[2] = debugLineFromXYZ[2]; - tmpLine.m_lifeTime = lifeTime; - tmpLine.m_lineWidth = lineWidth; - tmpLine.m_itemUniqueId = m_uidGenerator++; - tmpLine.m_debugLineFromXYZ[0] = debugLineFromXYZ[0]; - tmpLine.m_debugLineFromXYZ[1] = debugLineFromXYZ[1]; - tmpLine.m_debugLineFromXYZ[2] = debugLineFromXYZ[2]; - - tmpLine.m_debugLineToXYZ[0] = debugLineToXYZ[0]; - tmpLine.m_debugLineToXYZ[1] = debugLineToXYZ[1]; - tmpLine.m_debugLineToXYZ[2] = debugLineToXYZ[2]; + m_tmpLine.m_debugLineToXYZ[0] = debugLineToXYZ[0]; + m_tmpLine.m_debugLineToXYZ[1] = debugLineToXYZ[1]; + m_tmpLine.m_debugLineToXYZ[2] = debugLineToXYZ[2]; - tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0]; - tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1]; - tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2]; + m_tmpLine.m_debugLineColorRGB[0] = debugLineColorRGB[0]; + m_tmpLine.m_debugLineColorRGB[1] = debugLineColorRGB[1]; + m_tmpLine.m_debugLineColorRGB[2] = debugLineColorRGB[2]; m_cs->lock(); - m_userDebugLines.push_back(tmpLine); + m_cs->setSharedParam(1, eGUIUserDebugAddLine); m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(150); + } return m_userDebugLines[m_userDebugLines.size()-1].m_itemUniqueId; } @@ -736,38 +747,23 @@ public: { m_removeDebugItemUid = debugItemUniqueId; m_cs->lock(); - - for (int i = 0; isetSharedParam(1, eGUIUserDebugRemoveItem); m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(150); + } } virtual void removeAllUserDebugItems( ) { m_cs->lock(); - m_userDebugLines.clear(); - m_userDebugText.clear(); - m_uidGenerator = 0; + m_cs->setSharedParam(1, eGUIUserDebugRemoveAllItems); m_cs->unlock(); + while (m_cs->getSharedParam(1) != eGUIHelperIdle) + { + b3Clock::usleep(150); + } } @@ -1252,6 +1248,60 @@ void PhysicsServerExample::stepSimulation(float deltaTime) break; } + case eGUIUserDebugAddText: + { + m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText); + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } + case eGUIUserDebugAddLine: + { + m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine); + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } + case eGUIUserDebugRemoveItem: + { + for (int i=0;im_userDebugLines.size();i++) + { + if (m_multiThreadedHelper->m_userDebugLines[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) + { + m_multiThreadedHelper->m_userDebugLines.swap(i,m_multiThreadedHelper->m_userDebugLines.size()-1); + m_multiThreadedHelper->m_userDebugLines.pop_back(); + break; + } + } + + + for (int i=0;im_userDebugText.size();i++) + { + if (m_multiThreadedHelper->m_userDebugText[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) + { + m_multiThreadedHelper->m_userDebugText.swap(i,m_multiThreadedHelper->m_userDebugText.size()-1); + m_multiThreadedHelper->m_userDebugText.pop_back(); + break; + } + } + + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } + case eGUIUserDebugRemoveAllItems: + { + m_multiThreadedHelper->m_userDebugLines.clear(); + m_multiThreadedHelper->m_userDebugText.clear(); + m_multiThreadedHelper->m_uidGenerator = 0; + m_multiThreadedHelper->getCriticalSection()->lock(); + m_multiThreadedHelper->getCriticalSection()->setSharedParam(1, eGUIHelperIdle); + m_multiThreadedHelper->getCriticalSection()->unlock(); + break; + } case eGUIHelperIdle: { break; @@ -1316,7 +1366,7 @@ void PhysicsServerExample::drawUserDebugLines() //draw all user- 'text3d' messages if (m_multiThreadedHelper) { - m_args[0].m_cs->lock(); + for (int i = 0; im_userDebugLines.size(); i++) { btVector3 from; @@ -1346,8 +1396,6 @@ void PhysicsServerExample::drawUserDebugLines() m_multiThreadedHelper->m_userDebugText[i].textSize); } - m_args[0].m_cs->unlock(); - } } From 1bc427df6b0405909d53fb58bb1f3ea631eb3860 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Sun, 20 Nov 2016 16:22:20 -0800 Subject: [PATCH 053/102] fix compile issue when using VR --- examples/SharedMemory/PhysicsServerExample.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index bf3bf20b5..aff18b0f8 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -1475,7 +1475,9 @@ void PhysicsServerExample::renderScene() tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0)); b3Scalar dt = 0.01; m_tinyVrGui->clearTextArea(); - + static char line0[1024]; + static char line1[1024]; + m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255); m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255); From 49b27f30bdbba8c316cc46726de100e558315d58 Mon Sep 17 00:00:00 2001 From: Lunkhound Date: Sun, 20 Nov 2016 16:38:11 -0800 Subject: [PATCH 054/102] example browser: slider widget improvements --- .../CommonParameterInterface.h | 4 ++- examples/Evolution/NN3DWalkers.cpp | 7 +---- examples/Evolution/NN3DWalkersTimeWarpBase.h | 19 +++++-------- .../GwenGUISupport/GwenParameterInterface.cpp | 22 +++++++++++---- examples/ExtendedTutorials/InclinedPlane.cpp | 28 +++++++++---------- examples/ExtendedTutorials/MultiPendulum.cpp | 21 ++++---------- examples/ExtendedTutorials/NewtonsCradle.cpp | 22 ++++----------- .../ExtendedTutorials/NewtonsRopeCradle.cpp | 21 ++++---------- .../CommonRigidBodyMTBase.cpp | 22 +++++++++++++-- .../MultiThreadedDemo/MultiThreadedDemo.cpp | 11 ++++++-- 10 files changed, 86 insertions(+), 91 deletions(-) diff --git a/examples/CommonInterfaces/CommonParameterInterface.h b/examples/CommonInterfaces/CommonParameterInterface.h index 3bb2f50c8..e2334108c 100644 --- a/examples/CommonInterfaces/CommonParameterInterface.h +++ b/examples/CommonInterfaces/CommonParameterInterface.h @@ -4,7 +4,7 @@ #pragma once -typedef void (*SliderParamChangedCallback) (float newVal); +typedef void (*SliderParamChangedCallback) (float newVal, void* userPointer); #include "LinearMath/btScalar.h" struct SliderParams @@ -16,6 +16,7 @@ struct SliderParams btScalar* m_paramValuePointer; void* m_userPointer; bool m_clampToNotches; + bool m_clampToIntegers; bool m_showValues; SliderParams(const char* name, btScalar* targetValuePointer) @@ -26,6 +27,7 @@ struct SliderParams m_paramValuePointer(targetValuePointer), m_userPointer(0), m_clampToNotches(true), + m_clampToIntegers(false), m_showValues(true) { } diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp index 148ebee0c..53d59e485 100755 --- a/examples/Evolution/NN3DWalkers.cpp +++ b/examples/Evolution/NN3DWalkers.cpp @@ -552,10 +552,6 @@ struct WalkerFilterCallback : public btOverlapFilterCallback } }; -void floorNNSliderValue(float notUsed) { - gParallelEvaluations = floor(gParallelEvaluations); -} - void NN3DWalkersExample::initPhysics() { @@ -657,8 +653,7 @@ void NN3DWalkersExample::initPhysics() SliderParams slider("Parallel evaluations", &gParallelEvaluations); slider.m_minVal = 1; slider.m_maxVal = NUM_WALKERS; - slider.m_clampToNotches = false; - slider.m_callback = floorNNSliderValue; // hack to get integer values + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } diff --git a/examples/Evolution/NN3DWalkersTimeWarpBase.h b/examples/Evolution/NN3DWalkersTimeWarpBase.h index 6db8fadd1..a7a9a2a7d 100644 --- a/examples/Evolution/NN3DWalkersTimeWarpBase.h +++ b/examples/Evolution/NN3DWalkersTimeWarpBase.h @@ -138,19 +138,15 @@ static btScalar gCFMSingularityAvoidance = 0; //GUI related parameter changing helpers -inline void floorSliderValues(float notUsed) { // floor values that should be ints - gSolverIterations = floor(gSolverIterations); -} - -inline void twxChangePhysicsStepsPerSecond(float physicsStepsPerSecond) { // function to change simulation physics steps per second +inline void twxChangePhysicsStepsPerSecond(float physicsStepsPerSecond, void*) { // function to change simulation physics steps per second gPhysicsStepsPerSecond = physicsStepsPerSecond; } -inline void twxChangeFPS(float framesPerSecond) { +inline void twxChangeFPS(float framesPerSecond, void*) { gFramesPerSecond = framesPerSecond; } -inline void twxChangeERPCFM(float notUsed) { // function to change ERP/CFM appropriately +inline void twxChangeERPCFM(float notUsed, void*) { // function to change ERP/CFM appropriately gChangeErpCfm = true; } @@ -166,13 +162,12 @@ inline void changeSolver(int comboboxId, const char* item, void* userPointer) { } -inline void twxChangeSolverIterations(float notUsed){ // change the solver iterations +inline void twxChangeSolverIterations(float notUsed, void* userPtr) { // change the solver iterations - floorSliderValues(0); // floor the values set by slider } -inline void clampToCustomSpeedNotches(float speed) { // function to clamp to custom speed notches +inline void clampToCustomSpeedNotches(float speed, void*) { // function to clamp to custom speed notches double minSpeed = 0; double minSpeedDist = SimulationSpeeds::MAX_SPEED; for (int i = 0; i < SimulationSpeeds::NUM_SPEEDS; i++) { @@ -200,7 +195,7 @@ inline void switchMaximumSpeed(int buttonId, bool buttonState, void* userPointer // b3Printf("Run maximum speed %s", gMaximumSpeed?"on":"off"); } -inline void setApplicationTick(float frequency){ // set internal application tick +inline void setApplicationTick(float frequency, void*){ // set internal application tick gApplicationTick = 1000.0f/frequency; } @@ -383,7 +378,7 @@ struct NN3DWalkersTimeWarpBase: public CommonRigidBodyBase { slider.m_minVal = 0; slider.m_maxVal = 1000; slider.m_callback = twxChangePhysicsStepsPerSecond; - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } diff --git a/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp b/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp index 449f27e0a..aa8c0b871 100644 --- a/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp +++ b/examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp @@ -28,18 +28,20 @@ template struct MySliderEventHandler : public Gwen::Event::Handler { SliderParamChangedCallback m_callback; + void* m_userPointer; Gwen::Controls::TextBox* m_label; Gwen::Controls::Slider* m_pSlider; char m_variableName[1024]; T* m_targetValue; bool m_showValue; - MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target,SliderParamChangedCallback callback) + MySliderEventHandler(const char* varName, Gwen::Controls::TextBox* label, Gwen::Controls::Slider* pSlider,T* target, SliderParamChangedCallback callback, void* userPtr) :m_label(label), m_pSlider(pSlider), m_targetValue(target), m_showValue(true), - m_callback(callback) + m_callback(callback), + m_userPointer(userPtr) { memcpy(m_variableName,varName,strlen(varName)+1); } @@ -55,7 +57,7 @@ struct MySliderEventHandler : public Gwen::Event::Handler if (m_callback) { - (*m_callback)(v); + (*m_callback)(v, m_userPointer); } } @@ -223,12 +225,20 @@ void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params) pSlider->SetPos( 10, m_gwenInternalData->m_curYposition ); pSlider->SetSize( 200, 20 ); pSlider->SetRange( params.m_minVal, params.m_maxVal); - pSlider->SetNotchCount(16);//float(params.m_maxVal-params.m_minVal)/100.f); - pSlider->SetClampToNotches( params.m_clampToNotches ); + if (params.m_clampToIntegers) + { + pSlider->SetNotchCount( int( params.m_maxVal - params.m_minVal ) ); + pSlider->SetClampToNotches( params.m_clampToNotches ); + } + else + { + pSlider->SetNotchCount( 16 );//float(params.m_maxVal-params.m_minVal)/100.f); + pSlider->SetClampToNotches( params.m_clampToNotches ); + } pSlider->SetValue( *params.m_paramValuePointer);//dimensions[i] ); char labelName[1024]; sprintf(labelName,"%s",params.m_name);//axisNames[0]); - MySliderEventHandler* handler = new MySliderEventHandler(labelName,label,pSlider,params.m_paramValuePointer,params.m_callback); + MySliderEventHandler* handler = new MySliderEventHandler(labelName,label,pSlider,params.m_paramValuePointer,params.m_callback, params.m_userPointer); handler->m_showValue = params.m_showValues; m_paramInternalData->m_sliderEventHandlers.push_back(handler); diff --git a/examples/ExtendedTutorials/InclinedPlane.cpp b/examples/ExtendedTutorials/InclinedPlane.cpp index dceafdbe8..2c36f8ffa 100644 --- a/examples/ExtendedTutorials/InclinedPlane.cpp +++ b/examples/ExtendedTutorials/InclinedPlane.cpp @@ -69,19 +69,19 @@ struct InclinedPlaneExample : public CommonRigidBodyBase }; -void onBoxFrictionChanged(float friction); +void onBoxFrictionChanged(float friction, void* userPtr); -void onBoxRestitutionChanged(float restitution); +void onBoxRestitutionChanged(float restitution, void* userPtr); -void onSphereFrictionChanged(float friction); +void onSphereFrictionChanged(float friction, void* userPtr); -void onSphereRestitutionChanged(float restitution); +void onSphereRestitutionChanged(float restitution, void* userPtr); -void onRampInclinationChanged(float inclination); +void onRampInclinationChanged(float inclination, void* userPtr); -void onRampFrictionChanged(float friction); +void onRampFrictionChanged(float friction, void* userPtr); -void onRampRestitutionChanged(float restitution); +void onRampRestitutionChanged(float restitution, void* userPtr); void InclinedPlaneExample::initPhysics() { @@ -306,35 +306,35 @@ bool InclinedPlaneExample::keyboardCallback(int key, int state) { // GUI parameter modifiers -void onBoxFrictionChanged(float friction){ +void onBoxFrictionChanged(float friction, void*){ if(gBox){ gBox->setFriction(friction); // b3Printf("Friction of box changed to %f",friction ); } } -void onBoxRestitutionChanged(float restitution){ +void onBoxRestitutionChanged(float restitution, void*){ if(gBox){ gBox->setRestitution(restitution); //b3Printf("Restitution of box changed to %f",restitution); } } -void onSphereFrictionChanged(float friction){ +void onSphereFrictionChanged(float friction, void*){ if(gSphere){ gSphere->setFriction(friction); //b3Printf("Friction of sphere changed to %f",friction ); } } -void onSphereRestitutionChanged(float restitution){ +void onSphereRestitutionChanged(float restitution, void*){ if(gSphere){ gSphere->setRestitution(restitution); //b3Printf("Restitution of sphere changed to %f",restitution); } } -void onRampInclinationChanged(float inclination){ +void onRampInclinationChanged(float inclination, void*){ if(ramp){ btTransform startTransform; startTransform.setIdentity(); @@ -351,14 +351,14 @@ void onRampInclinationChanged(float inclination){ } } -void onRampFrictionChanged(float friction){ +void onRampFrictionChanged(float friction, void*){ if(ramp){ ramp->setFriction(friction); //b3Printf("Friction of ramp changed to %f \n",friction ); } } -void onRampRestitutionChanged(float restitution){ +void onRampRestitutionChanged(float restitution, void*){ if(ramp){ ramp->setRestitution(restitution); //b3Printf("Restitution of ramp changed to %f \n",restitution); diff --git a/examples/ExtendedTutorials/MultiPendulum.cpp b/examples/ExtendedTutorials/MultiPendulum.cpp index 038aab3ec..b45eee755 100644 --- a/examples/ExtendedTutorials/MultiPendulum.cpp +++ b/examples/ExtendedTutorials/MultiPendulum.cpp @@ -71,11 +71,9 @@ struct MultiPendulumExample: public CommonRigidBodyBase { static MultiPendulumExample* mex = NULL; // Handle to the example to access it via functions. Do not use this in your simulation! -void onMultiPendulaLengthChanged(float pendulaLength); // Change the pendula length +void onMultiPendulaLengthChanged(float pendulaLength, void*); // Change the pendula length -void onMultiPendulaRestitutionChanged(float pendulaRestitution); // change the pendula restitution - -void floorMSliderValue(float notUsed); // floor the slider values which should be integers +void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*); // change the pendula restitution void applyMForceWithForceScalar(float forceScalar); @@ -85,8 +83,7 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene SliderParams slider("Number of Pendula", &gPendulaQty); slider.m_minVal = 1; slider.m_maxVal = 50; - slider.m_callback = floorMSliderValue; // hack to get integer values - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } @@ -95,8 +92,7 @@ void MultiPendulumExample::initPhysics() { // Setup your physics scene SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula); slider.m_minVal = 0; slider.m_maxVal = 49; - slider.m_callback = floorMSliderValue; // hack to get integer values - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } @@ -397,7 +393,7 @@ void MultiPendulumExample::applyPendulumForce(btScalar pendulumForce){ // GUI parameter modifiers -void onMultiPendulaLengthChanged(float pendulaLength) { // Change the pendula length +void onMultiPendulaLengthChanged(float pendulaLength, void*) { // Change the pendula length if (mex){ mex->changePendulaLength(pendulaLength); } @@ -405,18 +401,13 @@ void onMultiPendulaLengthChanged(float pendulaLength) { // Change the pendula le } -void onMultiPendulaRestitutionChanged(float pendulaRestitution) { // change the pendula restitution +void onMultiPendulaRestitutionChanged(float pendulaRestitution, void*) { // change the pendula restitution if (mex){ mex->changePendulaRestitution(pendulaRestitution); } } -void floorMSliderValue(float notUsed) { // floor the slider values which should be integers - gPendulaQty = floor(gPendulaQty); - gDisplacedPendula = floor(gDisplacedPendula); -} - void applyMForceWithForceScalar(float forceScalar) { if(mex){ btScalar appliedForce = forceScalar * gDisplacementForce; diff --git a/examples/ExtendedTutorials/NewtonsCradle.cpp b/examples/ExtendedTutorials/NewtonsCradle.cpp index 0d4c52095..54be8367a 100644 --- a/examples/ExtendedTutorials/NewtonsCradle.cpp +++ b/examples/ExtendedTutorials/NewtonsCradle.cpp @@ -71,11 +71,9 @@ struct NewtonsCradleExample: public CommonRigidBodyBase { static NewtonsCradleExample* nex = NULL; -void onPendulaLengthChanged(float pendulaLength); // Change the pendula length +void onPendulaLengthChanged(float pendulaLength, void* userPtr); // Change the pendula length -void onPendulaRestitutionChanged(float pendulaRestitution); // change the pendula restitution - -void floorSliderValue(float notUsed); // floor the slider values which should be integers +void onPendulaRestitutionChanged(float pendulaRestitution, void* userPtr); // change the pendula restitution void applyForceWithForceScalar(float forceScalar); @@ -85,8 +83,7 @@ void NewtonsCradleExample::initPhysics() { SliderParams slider("Number of Pendula", &gPendulaQty); slider.m_minVal = 1; slider.m_maxVal = 50; - slider.m_callback = floorSliderValue; // hack to get integer values - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } @@ -95,8 +92,7 @@ void NewtonsCradleExample::initPhysics() { SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula); slider.m_minVal = 0; slider.m_maxVal = 49; - slider.m_callback = floorSliderValue; // hack to get integer values - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } @@ -343,25 +339,19 @@ void NewtonsCradleExample::applyPendulumForce(btScalar pendulumForce){ // GUI parameter modifiers -void onPendulaLengthChanged(float pendulaLength) { +void onPendulaLengthChanged(float pendulaLength, void*) { if (nex){ nex->changePendulaLength(pendulaLength); //b3Printf("Pendula length changed to %f \n",sliderValue ); } } -void onPendulaRestitutionChanged(float pendulaRestitution) { +void onPendulaRestitutionChanged(float pendulaRestitution, void*) { if (nex){ nex->changePendulaRestitution(pendulaRestitution); } } -void floorSliderValue(float notUsed) { - gPendulaQty = floor(gPendulaQty); - gDisplacedPendula = floor(gDisplacedPendula); - -} - void applyForceWithForceScalar(float forceScalar) { if(nex){ btScalar appliedForce = forceScalar * gDisplacementForce; diff --git a/examples/ExtendedTutorials/NewtonsRopeCradle.cpp b/examples/ExtendedTutorials/NewtonsRopeCradle.cpp index 94c96a71f..76eb115ea 100644 --- a/examples/ExtendedTutorials/NewtonsRopeCradle.cpp +++ b/examples/ExtendedTutorials/NewtonsRopeCradle.cpp @@ -105,9 +105,7 @@ struct NewtonsRopeCradleExample : public CommonRigidBodyBase { static NewtonsRopeCradleExample* nex = NULL; -void onRopePendulaRestitutionChanged(float pendulaRestitution); - -void floorRSliderValue(float notUsed); +void onRopePendulaRestitutionChanged(float pendulaRestitution, void*); void applyRForceWithForceScalar(float forceScalar); @@ -118,8 +116,7 @@ void NewtonsRopeCradleExample::initPhysics() SliderParams slider("Number of Pendula", &gPendulaQty); slider.m_minVal = 1; slider.m_maxVal = 50; - slider.m_callback = floorRSliderValue; // hack to get integer values - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } @@ -128,8 +125,7 @@ void NewtonsRopeCradleExample::initPhysics() SliderParams slider("Number of Displaced Pendula", &gDisplacedPendula); slider.m_minVal = 0; slider.m_maxVal = 49; - slider.m_callback = floorRSliderValue; // hack to get integer values - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } @@ -148,8 +144,7 @@ void NewtonsRopeCradleExample::initPhysics() SliderParams slider("Rope Resolution", &gRopeResolution); slider.m_minVal = 1; slider.m_maxVal = 20; - slider.m_clampToNotches = false; - slider.m_callback = floorRSliderValue; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider); } @@ -357,18 +352,12 @@ void NewtonsRopeCradleExample::applyPendulumForce(btScalar pendulumForce){ // GUI parameter modifiers -void onRopePendulaRestitutionChanged(float pendulaRestitution) { +void onRopePendulaRestitutionChanged(float pendulaRestitution, void*) { if (nex){ nex->changePendulaRestitution(pendulaRestitution); } } -void floorRSliderValue(float notUsed) { - gPendulaQty = floor(gPendulaQty); - gDisplacedPendula = floor(gDisplacedPendula); - gRopeResolution = floor(gRopeResolution); -} - void applyRForceWithForceScalar(float forceScalar) { if(nex){ btScalar appliedForce = forceScalar * gDisplacementForce; diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp index 26e430cc2..0e9e6c5b3 100644 --- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp +++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp @@ -633,7 +633,7 @@ void apiSelectButtonCallback(int buttonId, bool buttonState, void* userPointer) } } -void setThreadCountCallback(float val) +void setThreadCountCallback(float val, void* userPtr) { if (gTaskMgr.getApi()==TaskManager::apiNone) { @@ -642,7 +642,14 @@ void setThreadCountCallback(float val) else { gTaskMgr.setNumThreads( int( gSliderNumThreads ) ); - gSliderNumThreads = float(gTaskMgr.getNumThreads()); + } +} + +void setSolverIterationCountCallback(float val, void* userPtr) +{ + if (btDiscreteDynamicsWorld* world = reinterpret_cast(userPtr)) + { + world->getSolverInfo().m_numIterations = btMax(1, int(gSliderSolverIterations)); } } @@ -728,6 +735,15 @@ void CommonRigidBodyMTBase::createDefaultParameters() button.m_callback = boolPtrButtonCallback; m_guiHelper->getParameterInterface()->registerButtonParameter( button ); } + { + SliderParams slider( "Solver iterations", &gSliderSolverIterations ); + slider.m_minVal = 1.0f; + slider.m_maxVal = 30.0f; + slider.m_callback = setSolverIterationCountCallback; + slider.m_userPointer = m_dynamicsWorld; + slider.m_clampToIntegers = true; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); + } if (m_multithreadedWorld) { // create a button for each supported threading API @@ -750,7 +766,7 @@ void CommonRigidBodyMTBase::createDefaultParameters() slider.m_minVal = 1.0f; slider.m_maxVal = float(gTaskMgr.getMaxNumThreads()*2); slider.m_callback = setThreadCountCallback; - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); } } diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp index d3a54856b..bb6c8a8b6 100644 --- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp +++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp @@ -98,18 +98,25 @@ void MultiThreadedDemo::initPhysics() m_dynamicsWorld->setGravity( btVector3( 0, -10, 0 ) ); + { + SliderParams slider( "Stack height", &gSliderStackHeight ); + slider.m_minVal = 1.0f; + slider.m_maxVal = 30.0f; + slider.m_clampToIntegers = true; + m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); + } { SliderParams slider( "Stack rows", &gSliderStackRows ); slider.m_minVal = 1.0f; slider.m_maxVal = 20.0f; - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); } { SliderParams slider( "Stack columns", &gSliderStackColumns ); slider.m_minVal = 1.0f; slider.m_maxVal = 20.0f; - slider.m_clampToNotches = false; + slider.m_clampToIntegers = true; m_guiHelper->getParameterInterface()->registerSliderFloatParameter( slider ); } From 4300ef45a37ead1071f6c7e80631d136b00101cc Mon Sep 17 00:00:00 2001 From: Lunkhound Date: Sun, 20 Nov 2016 18:00:21 -0800 Subject: [PATCH 055/102] fix missing globals --- examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp | 2 ++ examples/MultiThreadedDemo/MultiThreadedDemo.cpp | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp index 0e9e6c5b3..8375489ee 100644 --- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp +++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp @@ -590,6 +590,8 @@ public: static bool gMultithreadedWorld = false; static bool gDisplayProfileInfo = false; static btScalar gSliderNumThreads = 1.0f; // should be int +static btScalar gSliderSolverIterations = 10.0f; // should be int + //////////////////////////////////// CommonRigidBodyMTBase::CommonRigidBodyMTBase( struct GUIHelperInterface* helper ) diff --git a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp index bb6c8a8b6..4a88207c6 100644 --- a/examples/MultiThreadedDemo/MultiThreadedDemo.cpp +++ b/examples/MultiThreadedDemo/MultiThreadedDemo.cpp @@ -90,7 +90,7 @@ MultiThreadedDemo::MultiThreadedDemo(struct GUIHelperInterface* helper) static btScalar gSliderStackRows = 8.0f; static btScalar gSliderStackColumns = 6.0f; - +static btScalar gSliderStackHeight = 15.0f; void MultiThreadedDemo::initPhysics() { From 0d5dcb3cc55ecc08c190bd6b21f8b8d1b54ba44a Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 21 Nov 2016 07:42:11 -0800 Subject: [PATCH 056/102] setDebugObjectColor --- examples/SharedMemory/PhysicsClientC_API.cpp | 51 ++++++++++++++++ examples/SharedMemory/PhysicsClientC_API.h | 7 +++ .../PhysicsServerCommandProcessor.cpp | 50 +++++++++++++++- examples/SharedMemory/SharedMemoryCommands.h | 15 ++++- .../TinyRendererVisualShapeConverter.cpp | 19 +++++- .../TinyRendererVisualShapeConverter.h | 1 + examples/TinyRenderer/TinyRenderer.cpp | 11 +++- examples/TinyRenderer/TinyRenderer.h | 1 + examples/pybullet/pybullet.c | 59 +++++++++++++++++-- .../CollisionDispatch/btCollisionObject.h | 24 +++++++- .../CollisionDispatch/btCollisionWorld.cpp | 2 + 11 files changed, 224 insertions(+), 16 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index e61130446..e60953750 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1195,6 +1195,46 @@ int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle) return status->m_userDebugDrawArgs.m_debugItemUniqueId; } +b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient) +{ + PhysicsClient* cl = (PhysicsClient*)physClient; + b3Assert(cl); + b3Assert(cl->canSubmitCommand()); + struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand(); + b3Assert(command); + command->m_type = CMD_USER_DEBUG_DRAW; + command->m_updateFlags = 0; + return (b3SharedMemoryCommandHandle)command; +} + + + +void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3]) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_USER_DEBUG_DRAW); + command->m_updateFlags |= USER_DEBUG_SET_CUSTOM_OBJECT_COLOR; + command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId; + command->m_userDebugDrawArgs.m_linkIndex = linkIndex; + command->m_userDebugDrawArgs.m_objectDebugColorRGB[0] = objectColorRGB[0]; + command->m_userDebugDrawArgs.m_objectDebugColorRGB[1] = objectColorRGB[1]; + command->m_userDebugDrawArgs.m_objectDebugColorRGB[2] = objectColorRGB[2]; +} + +void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_USER_DEBUG_DRAW); + command->m_updateFlags |= USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR; + command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId; + command->m_userDebugDrawArgs.m_linkIndex = linkIndex; + +} + + + ///request an image from a simulated camera, using a software renderer. b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient) @@ -1244,6 +1284,17 @@ void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHa command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION; } +void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + for (int i = 0; i<3; i++) + { + command->m_requestPixelDataArguments.m_lightColor[i] = lightColor[i]; + } + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR; +} void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]) { diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index e9df467ec..b9da28cd5 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -89,14 +89,21 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle p b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime); b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId); b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient); + +b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient); +void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3]); +void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex); + ///All debug items unique Ids are positive: a negative unique Id means failure. int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle); + ///request an image from a simulated camera, using a software renderer. b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient); void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]); void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]); +void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]); void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 056784ada..0df90f614 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -3531,7 +3531,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm for( int i=0;igetRigidBodyByIndex(i); - if (colObj) { btRigidBody* rb = btRigidBody::upcast(colObj); @@ -3594,7 +3593,54 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm SharedMemoryStatus& serverCmd = serverStatusOut; serverCmd.m_type = CMD_USER_DEBUG_DRAW_FAILED; hasStatus = true; - + + if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR)) + { + int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId; + InteralBodyData* body = m_data->getHandle(bodyUniqueId); + if (body) + { + btCollisionObject* destColObj = 0; + + if (body->m_multiBody) + { + if (clientCmd.m_userDebugDrawArgs.m_linkIndex == -1) + { + destColObj = body->m_multiBody->getBaseCollider(); + } + else + { + if (clientCmd.m_userDebugDrawArgs.m_linkIndex >= 0 && clientCmd.m_userDebugDrawArgs.m_linkIndex < body->m_multiBody->getNumLinks()) + { + destColObj = body->m_multiBody->getLink(clientCmd.m_userDebugDrawArgs.m_linkIndex).m_collider; + } + } + + } + if (body->m_rigidBody) + { + destColObj = body->m_rigidBody; + } + + if (destColObj) + { + if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR) + { + destColObj->removeCustomDebugColor(); + serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED; + } + if (clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) + { + btVector3 objectColorRGB; + objectColorRGB.setValue(clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[0], + clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[1], + clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[2]); + destColObj->setCustomDebugColor(objectColorRGB); + serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED; + } + } + } + } if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT) { diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 515fa5079..5b3346433 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -139,13 +139,15 @@ struct RequestPixelDataArgs int m_pixelWidth; int m_pixelHeight; float m_lightDirection[3]; + float m_lightColor[3]; }; enum EnumRequestPixelDataUpdateFlags { REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1, - REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=4, - REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=8, + REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=2, + REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=4, + REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8, //don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h }; @@ -524,7 +526,10 @@ enum EnumUserDebugDrawFlags USER_DEBUG_HAS_LINE=1, USER_DEBUG_HAS_TEXT=2, USER_DEBUG_REMOVE_ONE_ITEM=4, - USER_DEBUG_REMOVE_ALL=8 + USER_DEBUG_REMOVE_ALL=8, + USER_DEBUG_SET_CUSTOM_OBJECT_COLOR = 16, + USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32, + }; struct UserDebugDrawArgs @@ -541,6 +546,10 @@ struct UserDebugDrawArgs double m_textPositionXYZ[3]; double m_textColorRGB[3]; double m_textSize; + + double m_objectDebugColorRGB[3]; + int m_objectUniqueId; + int m_linkIndex; }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 676ca65d3..34478bee7 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -75,6 +75,8 @@ struct TinyRendererVisualShapeConverterInternalData b3AlignedObjectArray m_segmentationMaskBuffer; btVector3 m_lightDirection; bool m_hasLightDirection; + btVector3 m_lightColor; + bool m_hasLightColor; SimpleCamera m_camera; @@ -83,7 +85,8 @@ struct TinyRendererVisualShapeConverterInternalData m_swWidth(START_WIDTH), m_swHeight(START_HEIGHT), m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB), - m_hasLightDirection(false) + m_hasLightDirection(false), + m_hasLightColor(false) { m_depthBuffer.resize(m_swWidth*m_swHeight); m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1); @@ -117,6 +120,11 @@ void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float m_data->m_hasLightDirection = true; } +void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z) +{ + m_data->m_lightColor.setValue(x, y, z); + m_data->m_hasLightColor = true; +} void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut, b3VisualShapeData& visualShapeOut) { @@ -704,6 +712,12 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo lightDirWorld.normalize(); + btVector3 lightColor(1.0,1.0,1.0); + if (m_data->m_hasLightColor) + { + lightColor = m_data->m_lightColor; + } + // printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); for (int i=0;im_swRenderInstances.size();i++) { @@ -737,6 +751,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); renderObj->m_lightDirWorld = lightDirWorld; + renderObj->m_lightColor = lightColor; } } TinyRenderer::renderObject(*renderObj); @@ -900,4 +915,4 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename) return registerTexture(image, width, height); } return -1; -} \ No newline at end of file +} diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index 1a4a02f76..b2ed166e6 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -33,6 +33,7 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void getWidthAndHeight(int& width, int& height); void setWidthAndHeight(int width, int height); void setLightDirection(float x, float y, float z); + void setLightColor(float x, float y, float z); void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 0a5b7c861..76b9e4053 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -19,6 +19,7 @@ struct Shader : public IShader { Model* m_model; Vec3f m_light_dir_local; + Vec3f m_light_color; Matrix& m_modelMat; Matrix m_invModelMat; @@ -32,9 +33,10 @@ struct Shader : public IShader { mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS //mat<3,3,float> ndc_tri; // triangle in normalized device coordinates - Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) + Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) :m_model(model), m_light_dir_local(light_dir_local), + m_light_color(light_color), m_modelView1(modelView), m_projectionMatrix(projectionMatrix), m_modelMat(modelMat), @@ -83,6 +85,10 @@ struct Shader : public IShader { color.bgra[1] *= m_colorRGBA[1]; color.bgra[2] *= m_colorRGBA[2]; color.bgra[3] *= m_colorRGBA[3]; + + color.bgra[0] *= m_light_color[0]; + color.bgra[1] *= m_light_color[1]; + color.bgra[2] *= m_light_color[2]; return false; } @@ -260,6 +266,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) int height = renderData.m_rgbColorBuffer.get_height(); Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); + Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]); Model* model = renderData.m_model; if (0==model) return; @@ -278,7 +285,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) { Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); + Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); //printf("Render %d triangles.\n",model->nfaces()); for (int i=0; infaces(); i++) diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 1819790a6..fcb8298bd 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -18,6 +18,7 @@ struct TinyRenderObjectData Matrix m_viewportMatrix; btVector3 m_localScaling; btVector3 m_lightDirWorld; + btVector3 m_lightColor; //Model (vertices, indices, textures, shader) Matrix m_modelMatrix; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 8163fbd1b..1947ec103 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1647,8 +1647,45 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args Py_INCREF(Py_None); return Py_None; } - +static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject *keywds) +{ + PyObject* objectColorRGBObj = 0; + double objectColorRGB[3]; + + int objectUniqueId = -1; + int linkIndex = -2; + + static char *kwlist[] = { "objectUniqueId", "linkIndex","objectDebugColorRGB", NULL }; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|O", kwlist, + &objectUniqueId, &linkIndex, &objectColorRGBObj)) + return NULL; + + if (objectColorRGBObj) + { + if (pybullet_internalSetVectord(objectColorRGBObj, objectColorRGB)) + { + b3SharedMemoryCommandHandle commandHandle = b3InitDebugDrawingCommand(sm); + b3SetDebugObjectColor(commandHandle, objectUniqueId, linkIndex, objectColorRGB); + b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + } + } + else + { + b3SharedMemoryCommandHandle commandHandle = b3InitDebugDrawingCommand(sm); + b3RemoveDebugObjectColor(commandHandle, objectUniqueId, linkIndex); + b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + } + Py_INCREF(Py_None); + return Py_None; +} + static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args) { @@ -2237,17 +2274,18 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py /// Render an image from the current timestep of the simulation, width, height are required, other args are optional -// getCameraImage(w, h, view[16], projection[16], lightpos[3]) +// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3]) static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) { /// request an image from a simulated camera, using a software renderer. struct b3CameraImageData imageData; - PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0; + PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0; int width, height; int size = PySequence_Size(args); float viewMatrix[16]; float projectionMatrix[16]; float lightDir[3]; + float lightColor[3]; // inialize cmd b3SharedMemoryCommandHandle command; @@ -2260,9 +2298,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec command = b3InitRequestCameraImage(sm); // set camera resolution, optionally view, projection matrix, light direction - static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection",NULL }; + static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", NULL }; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj)) { return NULL; } @@ -2273,11 +2311,16 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec { b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix); } - //set light pos only if function succeeds + //set light direction only if function succeeds if (pybullet_internalSetVector(lightDirObj, lightDir)) { b3RequestCameraImageSetLightDirection(command, lightDir); } + //set light color only if function succeeds + if (pybullet_internalSetVector(lightColorObj, lightColor)) + { + b3RequestCameraImageSetLightColor(command, lightColor); + } if (b3CanSubmitCommand(sm)) @@ -3421,6 +3464,10 @@ static PyMethodDef SpamMethods[] = { "remove all user debug draw items" }, + { "setDebugObjectColor", (PyCFunction)pybullet_setDebugObjectColor, METH_VARARGS | METH_KEYWORDS, + "Override the wireframe debug drawing color for a particular object unique id / link index." + "If you ommit the color, the custom color will be removed." + }, {"getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS, diff --git a/src/BulletCollision/CollisionDispatch/btCollisionObject.h b/src/BulletCollision/CollisionDispatch/btCollisionObject.h index c285a83fb..0cae21000 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h +++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h @@ -122,6 +122,7 @@ protected: ///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation. int m_updateRevision; + btVector3 m_customDebugColorRGB; public: @@ -136,7 +137,8 @@ public: CF_CHARACTER_OBJECT = 16, CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing CF_DISABLE_SPU_COLLISION_PROCESSING = 64,//disable parallel/SPU processing - CF_HAS_CONTACT_STIFFNESS_DAMPING = 128 + CF_HAS_CONTACT_STIFFNESS_DAMPING = 128, + CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256, }; enum CollisionObjectTypes @@ -556,6 +558,26 @@ public: return m_updateRevision; } + void setCustomDebugColor(const btVector3& colorRGB) + { + m_customDebugColorRGB = colorRGB; + m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR; + } + + void removeCustomDebugColor() + { + m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR; + } + + bool getCustomDebugColor(btVector3& colorRGB) const + { + bool hasCustomColor = (0!=(m_collisionFlags&CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR)); + if (hasCustomColor) + { + colorRGB = m_customDebugColorRGB; + } + return hasCustomColor; + } inline bool checkCollideWith(const btCollisionObject* co) const { diff --git a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp index 133994112..3bbf7586e 100644 --- a/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp +++ b/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp @@ -1572,6 +1572,8 @@ void btCollisionWorld::debugDrawWorld() } }; + colObj->getCustomDebugColor(color); + debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color); } if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb)) From 5be4409a1a52c741b13dafa924e1ef258248bc3a Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Mon, 21 Nov 2016 09:13:20 -0800 Subject: [PATCH 057/102] Render shadow buffer. --- examples/TinyRenderer/TinyRenderer.cpp | 56 +++++++++++++++++++++++++- examples/TinyRenderer/our_gl.cpp | 31 ++++++++++++++ 2 files changed, 85 insertions(+), 2 deletions(-) diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 76b9e4053..88102e86a 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -13,7 +13,7 @@ #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btVector3.h" - +const float depth = 2.f; struct Shader : public IShader { @@ -94,6 +94,55 @@ struct Shader : public IShader { } }; +struct DepthShader : public IShader { + + Model* m_model; + Matrix& m_modelMat; + Matrix m_invModelMat; + + Matrix& m_modelView1; + Matrix& m_projectionMatrix; + Vec3f m_localScaling; + Matrix& m_lightModelView; + + mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader + mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS + mat<4,3,float> varying_tri_light_view; // triangle coordinates (clip coordinates), written by VS, read by FS + mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS + + DepthShader(Model* model, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling) + :m_model(model), + m_modelView1(modelView), + m_lightModelView(lightModelView), + m_projectionMatrix(projectionMatrix), + m_modelMat(modelMat), + m_localScaling(localScaling) + { + m_invModelMat = m_modelMat.invert_transpose(); + } + virtual Vec4f vertex(int iface, int nthvert) { + Vec2f uv = m_model->uv(iface, nthvert); + varying_uv.set_col(nthvert, uv); + varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f))); + Vec3f unScaledVert = m_model->vert(iface, nthvert); + Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0], + unScaledVert[1]*m_localScaling[1], + unScaledVert[2]*m_localScaling[2]); + Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert); + varying_tri.set_col(nthvert, gl_Vertex); + Vec4f gl_VertexLightView = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert); + varying_tri_light_view.set_col(nthvert, gl_VertexLightView); + return gl_Vertex; + } + + virtual bool fragment(Vec3f bar, TGAColor &color) { + Vec4f p = varying_tri_light_view*bar; + printf("coefficient: %f\n", 1.0-p[2]/depth); + color = TGAColor(255, 255, 255)*(1.0-p[2]/depth); + return false; + } +}; + TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer) :m_rgbColorBuffer(rgbColorBuffer), m_depthBuffer(depthBuffer), @@ -283,9 +332,12 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) { + Matrix lightViewMatrix = lookat(Vec3f(0.0,0.1,2.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); + Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); + //Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); + DepthShader shader(model, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling); //printf("Render %d triangles.\n",model->nfaces()); for (int i=0; infaces(); i++) diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp index eb5a05a78..21300945f 100644 --- a/examples/TinyRenderer/our_gl.cpp +++ b/examples/TinyRenderer/our_gl.cpp @@ -30,6 +30,7 @@ Matrix projection(float coeff) { } Matrix lookat(Vec3f eye, Vec3f center, Vec3f up) { + /* Vec3f z = (eye-center).normalize(); Vec3f x = cross(up,z).normalize(); Vec3f y = cross(z,x).normalize(); @@ -44,6 +45,36 @@ Matrix lookat(Vec3f eye, Vec3f center, Vec3f up) { Matrix ModelView; ModelView = Minv*Tr; return ModelView; + */ + + Vec3f f = (center - eye).normalize(); + Vec3f u = up.normalize(); + Vec3f s = cross(f,u).normalize(); + u = cross(s,f); + + Matrix ModelView; + ModelView[0][0] = s.x; + ModelView[0][1] = s.y; + ModelView[0][2] = s.z; + + ModelView[1][0] = u.x; + ModelView[1][1] = u.y; + ModelView[1][2] = u.z; + + ModelView[2][0] =-f.x; + ModelView[2][1] =-f.y; + ModelView[2][2] =-f.z; + + ModelView[3][0] = 0.f; + ModelView[3][1] = 0.f; + ModelView[3][2] = 0.f; + + ModelView[0][3] = -(s[0]*eye[0]+s[1]*eye[1]+s[2]*eye[2]); + ModelView[1][3] = -(u[0]*eye[0]+u[1]*eye[1]+u[2]*eye[2]); + ModelView[2][3] = f[0]*eye[0]+f[1]*eye[1]+f[2]*eye[2]; + ModelView[3][3] = 1.f; + + return ModelView; } Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) { From d4a18c563434d20e576a61102a5332a31ef3f5fd Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Mon, 21 Nov 2016 10:18:48 -0800 Subject: [PATCH 058/102] Update NN3DWalkers.cpp the excessive stack-space requirements in printWalkerConfigs breaks some proprietary/internal build systems. --- examples/Evolution/NN3DWalkers.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/examples/Evolution/NN3DWalkers.cpp b/examples/Evolution/NN3DWalkers.cpp index 148ebee0c..f1420410a 100755 --- a/examples/Evolution/NN3DWalkers.cpp +++ b/examples/Evolution/NN3DWalkers.cpp @@ -1035,6 +1035,7 @@ void NN3DWalkersExample::drawMarkings() { } void NN3DWalkersExample::printWalkerConfigs(){ +#if 0 char configString[25 + NUM_WALKERS*BODYPART_COUNT*JOINT_COUNT*(3+15+1) + NUM_WALKERS*4 + 1]; // 15 precision + [],\n char* runner = configString; sprintf(runner,"Population configuration:"); @@ -1058,4 +1059,5 @@ void NN3DWalkersExample::printWalkerConfigs(){ } runner[0] = '\0'; b3Printf(configString); +#endif } From 24b3e137a606a7da63272a202f2552219db90fe5 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Mon, 21 Nov 2016 10:21:14 -0800 Subject: [PATCH 059/102] Render shadow with depth from light. --- .../SharedMemory/PhysicsClientExample.cpp | 20 ++++- examples/SharedMemory/SharedMemoryPublic.h | 1 + examples/TinyRenderer/TinyRenderer.cpp | 87 ++++++++++++++++++- 3 files changed, 104 insertions(+), 4 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index b0fe2be97..b1bac89d0 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -89,10 +89,10 @@ protected: virtual void resetCamera() { - float dist = 4; + float dist = 1; float pitch = 193; float yaw = 25; - float targetPos[3]={0,0,0.5};//-3,2.8,-2.5}; + float targetPos[3]={0.008655,0.001998,0.679456};//-3,2.8,-2.5}; m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); } @@ -481,6 +481,21 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) } break; } + case CMD_UPDATE_LIGHT: + { + b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle); + float viewMatrix[16]; + float projectionMatrix[16]; + m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix); + m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix); + + b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix); + b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight); + float lightDir[3] = {0.0,0.1,2.0}; + b3RequestCameraImageSetLightDirection(commandHandle, lightDir); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + break; + } default: { b3Error("Unknown buttonId"); @@ -557,6 +572,7 @@ void PhysicsClientExample::createButtons() createButton("Load SDF",CMD_LOAD_SDF, isTrigger); createButton("Save World",CMD_SAVE_WORLD, isTrigger); createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger); + createButton("Update Light",CMD_UPDATE_LIGHT,isTrigger); createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger); createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger); createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger); diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index d6a8e246a..557bdba52 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -38,6 +38,7 @@ enum EnumSharedMemoryClientCommand CMD_REQUEST_AABB_OVERLAP, CMD_SAVE_WORLD, CMD_REQUEST_VISUAL_SHAPE_INFO, + CMD_UPDATE_LIGHT, CMD_UPDATE_VISUAL_SHAPE, CMD_LOAD_TEXTURE, CMD_USER_DEBUG_DRAW, diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 88102e86a..55241670b 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -13,7 +13,7 @@ #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btVector3.h" -const float depth = 2.f; +const float depth = 10.f; struct Shader : public IShader { @@ -143,6 +143,88 @@ struct DepthShader : public IShader { } }; +struct ShadowShader : public IShader { + + Model* m_model; + Vec3f m_light_dir_local; + Vec3f m_light_color; + Matrix& m_modelMat; + Matrix m_invModelMat; + + Matrix& m_modelView1; + Matrix& m_projectionMatrix; + Vec3f m_localScaling; + Matrix& m_lightModelView; + Vec4f m_colorRGBA; + + mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader + mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS + mat<4,3,float> varying_tri_light_view; // triangle coordinates (clip coordinates), written by VS, read by FS + mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS + + ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) + :m_model(model), + m_light_dir_local(light_dir_local), + m_light_color(light_color), + m_modelView1(modelView), + m_lightModelView(lightModelView), + m_projectionMatrix(projectionMatrix), + m_modelMat(modelMat), + m_localScaling(localScaling), + m_colorRGBA(colorRGBA) + { + m_invModelMat = m_modelMat.invert_transpose(); + } + virtual Vec4f vertex(int iface, int nthvert) { + Vec2f uv = m_model->uv(iface, nthvert); + varying_uv.set_col(nthvert, uv); + varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f))); + Vec3f unScaledVert = m_model->vert(iface, nthvert); + Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0], + unScaledVert[1]*m_localScaling[1], + unScaledVert[2]*m_localScaling[2]); + Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert); + varying_tri.set_col(nthvert, gl_Vertex); + Vec4f gl_VertexLightView = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert); + varying_tri_light_view.set_col(nthvert, gl_VertexLightView); + return gl_Vertex; + } + + virtual bool fragment(Vec3f bar, TGAColor &color) { + Vec4f p = varying_tri_light_view*bar; + float shadow = 1.0-p[2]/depth; + printf("shadow: %f\n", shadow); + + Vec3f bn = (varying_nrm*bar).normalize(); + Vec2f uv = varying_uv*bar; + + Vec3f reflection_direction = (bn * (bn * m_light_dir_local * 2.f) - m_light_dir_local).normalize(); + float specular = pow(b3Max(reflection_direction.z, 0.f), m_model->specular(uv)); + float diffuse = b3Max(0.f, bn * m_light_dir_local); + + float ambient_coefficient = 0.6; + float diffuse_coefficient = 0.35; + float specular_coefficient = 0.05; + + float intensity = ambient_coefficient + b3Min(diffuse * diffuse_coefficient + specular * specular_coefficient, 1.0f - ambient_coefficient); + + color = m_model->diffuse(uv) * intensity * shadow; + + //warning: bgra color is swapped to rgba to upload texture + color.bgra[0] *= m_colorRGBA[0]; + color.bgra[1] *= m_colorRGBA[1]; + color.bgra[2] *= m_colorRGBA[2]; + color.bgra[3] *= m_colorRGBA[3]; + + color.bgra[0] *= m_light_color[0]; + color.bgra[1] *= m_light_color[1]; + color.bgra[2] *= m_light_color[2]; + + return false; + + } +}; + TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer) :m_rgbColorBuffer(rgbColorBuffer), m_depthBuffer(depthBuffer), @@ -337,7 +419,8 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); //Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); - DepthShader shader(model, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling); + //DepthShader shader(model, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling); + ShadowShader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); //printf("Render %d triangles.\n",model->nfaces()); for (int i=0; infaces(); i++) From ca71b84913a6284787ee0341ff8b06d901251c78 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 21 Nov 2016 22:33:23 -0800 Subject: [PATCH 060/102] fix uninitialized m_lightColor (see ExampleBrowser/Rendering/TinyRenderer, Software was black. --- examples/TinyRenderer/TinyRenderer.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 76b9e4053..a9f9ed9c3 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -107,6 +107,7 @@ m_objectIndex(-1) Vec3f center(0,0,0); Vec3f up(0,0,1); m_lightDirWorld.setValue(0,0,0); + m_lightColor.setValue(1, 1, 1); m_localScaling.setValue(1,1,1); m_modelMatrix = Matrix::identity(); @@ -127,6 +128,7 @@ m_objectIndex(objectIndex) Vec3f center(0,0,0); Vec3f up(0,0,1); m_lightDirWorld.setValue(0,0,0); + m_lightColor.setValue(1, 1, 1); m_localScaling.setValue(1,1,1); m_modelMatrix = Matrix::identity(); From 0516d2ecaaceb5ad43d8612413c676961e8e223d Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Tue, 22 Nov 2016 10:11:04 -0800 Subject: [PATCH 061/102] allow getClosestPoints for btCompoundCollisionAlgorithm and btSphereTriangleCollisionAlgorithm add optional 'lightColor' arg to testrender.py script --- examples/pybullet/testrender.py | 3 ++- .../CollisionDispatch/SphereTriangleDetector.cpp | 2 +- .../CollisionDispatch/btCompoundCollisionAlgorithm.cpp | 3 +++ .../CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp | 2 +- 4 files changed, 7 insertions(+), 3 deletions(-) diff --git a/examples/pybullet/testrender.py b/examples/pybullet/testrender.py index 5935c388f..0d3475c84 100644 --- a/examples/pybullet/testrender.py +++ b/examples/pybullet/testrender.py @@ -19,6 +19,7 @@ pixelHeight = 240 nearPlane = 0.01 farPlane = 1000 lightDirection = [0,1,0] +lightColor = [1,1,1]#optional argument fov = 60 #img_arr = pybullet.renderImage(pixelWidth, pixelHeight) @@ -28,7 +29,7 @@ for pitch in range (0,360,10) : viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex) aspect = pixelWidth / pixelHeight; projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane); - img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection) + img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor) w=img_arr[0] h=img_arr[1] rgb=img_arr[2] diff --git a/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp b/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp index 634017809..006cc65a2 100644 --- a/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp +++ b/src/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp @@ -100,7 +100,7 @@ bool SphereTriangleDetector::collide(const btVector3& sphereCenter,btVector3 &po btScalar radiusWithThreshold = radius + contactBreakingThreshold; btVector3 normal = (vertices[1]-vertices[0]).cross(vertices[2]-vertices[0]); - normal.normalize(); + normal.safeNormalize(); btVector3 p1ToCentre = sphereCenter - vertices[0]; btScalar distanceFromPlane = p1ToCentre.dot(normal); diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp index 1fc960df5..7f4dea1c6 100644 --- a/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp @@ -292,6 +292,9 @@ void btCompoundCollisionAlgorithm::processCollision (const btCollisionObjectWrap btTransform otherInCompoundSpace; otherInCompoundSpace = colObjWrap->getWorldTransform().inverse() * otherObjWrap->getWorldTransform(); otherObjWrap->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax); + btVector3 extraExtends(resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold, resultOut->m_closestPointDistanceThreshold); + localAabbMin -= extraExtends; + localAabbMax += extraExtends; const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax); //process all children, that overlap with the given AABB bounds diff --git a/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp index 280a4d355..86d4e7440 100644 --- a/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp +++ b/src/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp @@ -56,7 +56,7 @@ void btSphereTriangleCollisionAlgorithm::processCollision (const btCollisionObje /// report a contact. internally this will be kept persistent, and contact reduction is done resultOut->setPersistentManifold(m_manifoldPtr); - SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()); + SphereTriangleDetector detector(sphere,triangle, m_manifoldPtr->getContactBreakingThreshold()+ resultOut->m_closestPointDistanceThreshold); btDiscreteCollisionDetectorInterface::ClosestPointInput input; input.m_maximumDistanceSquared = btScalar(BT_LARGE_FLOAT);///@todo: tighter bounds From 29809a4471c73324642ae050cd54c76e0f0f9c5d Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Wed, 23 Nov 2016 13:00:26 -0800 Subject: [PATCH 062/102] Render depth buffer. --- .../SharedMemory/PhysicsClientExample.cpp | 20 +--- examples/SharedMemory/SharedMemoryPublic.h | 1 - examples/TinyRenderer/TinyRenderer.cpp | 91 +++++++++++++------ examples/TinyRenderer/our_gl.cpp | 20 +++- 4 files changed, 80 insertions(+), 52 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index b1bac89d0..3b60d3ce7 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -89,10 +89,10 @@ protected: virtual void resetCamera() { - float dist = 1; + float dist = 1.233281; float pitch = 193; float yaw = 25; - float targetPos[3]={0.008655,0.001998,0.679456};//-3,2.8,-2.5}; + float targetPos[3]={0.103042,-0.469102,0.631005};//-3,2.8,-2.5}; m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); } @@ -481,21 +481,6 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) } break; } - case CMD_UPDATE_LIGHT: - { - b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle); - float viewMatrix[16]; - float projectionMatrix[16]; - m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix); - m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix); - - b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix); - b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight); - float lightDir[3] = {0.0,0.1,2.0}; - b3RequestCameraImageSetLightDirection(commandHandle, lightDir); - b3SubmitClientCommand(m_physicsClientHandle, commandHandle); - break; - } default: { b3Error("Unknown buttonId"); @@ -572,7 +557,6 @@ void PhysicsClientExample::createButtons() createButton("Load SDF",CMD_LOAD_SDF, isTrigger); createButton("Save World",CMD_SAVE_WORLD, isTrigger); createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger); - createButton("Update Light",CMD_UPDATE_LIGHT,isTrigger); createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger); createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger); createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger); diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index 557bdba52..d6a8e246a 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -38,7 +38,6 @@ enum EnumSharedMemoryClientCommand CMD_REQUEST_AABB_OVERLAP, CMD_SAVE_WORLD, CMD_REQUEST_VISUAL_SHAPE_INFO, - CMD_UPDATE_LIGHT, CMD_UPDATE_VISUAL_SHAPE, CMD_LOAD_TEXTURE, CMD_USER_DEBUG_DRAW, diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 55241670b..cf71eb180 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -13,7 +13,8 @@ #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btVector3.h" -const float depth = 10.f; +b3AlignedObjectArray shadowbuffer; +Matrix viewportmat; struct Shader : public IShader { @@ -100,19 +101,17 @@ struct DepthShader : public IShader { Matrix& m_modelMat; Matrix m_invModelMat; - Matrix& m_modelView1; Matrix& m_projectionMatrix; Vec3f m_localScaling; Matrix& m_lightModelView; mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS - mat<4,3,float> varying_tri_light_view; // triangle coordinates (clip coordinates), written by VS, read by FS + mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - DepthShader(Model* model, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling) + DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling) :m_model(model), - m_modelView1(modelView), m_lightModelView(lightModelView), m_projectionMatrix(projectionMatrix), m_modelMat(modelMat), @@ -128,17 +127,14 @@ struct DepthShader : public IShader { Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0], unScaledVert[1]*m_localScaling[1], unScaledVert[2]*m_localScaling[2]); - Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert); + Vec4f gl_Vertex = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert); varying_tri.set_col(nthvert, gl_Vertex); - Vec4f gl_VertexLightView = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert); - varying_tri_light_view.set_col(nthvert, gl_VertexLightView); return gl_Vertex; } virtual bool fragment(Vec3f bar, TGAColor &color) { - Vec4f p = varying_tri_light_view*bar; - printf("coefficient: %f\n", 1.0-p[2]/depth); - color = TGAColor(255, 255, 255)*(1.0-p[2]/depth); + Vec4f p = varying_tri*bar; + color = TGAColor(255, 255, 255)*p[2]; return false; } }; @@ -157,12 +153,17 @@ struct ShadowShader : public IShader { Matrix& m_lightModelView; Vec4f m_colorRGBA; + int m_width; + int m_height; + + int m_index; + mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS - mat<4,3,float> varying_tri_light_view; // triangle coordinates (clip coordinates), written by VS, read by FS + mat<4,3,float> varying_tri_light_view; mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) + ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height) :m_model(model), m_light_dir_local(light_dir_local), m_light_color(light_color), @@ -171,7 +172,9 @@ struct ShadowShader : public IShader { m_projectionMatrix(projectionMatrix), m_modelMat(modelMat), m_localScaling(localScaling), - m_colorRGBA(colorRGBA) + m_colorRGBA(colorRGBA), + m_width(width), + m_height(height) { m_invModelMat = m_modelMat.invert_transpose(); } @@ -191,9 +194,15 @@ struct ShadowShader : public IShader { } virtual bool fragment(Vec3f bar, TGAColor &color) { - Vec4f p = varying_tri_light_view*bar; - float shadow = 1.0-p[2]/depth; - printf("shadow: %f\n", shadow); + Vec4f p = viewportmat*(varying_tri_light_view*bar); + p = p/p[3]; + float depth = p[2]; + int index_x = b3Min(m_width-1, int(p[0])); + index_x = b3Max(0, index_x); + int index_y = b3Min(m_height-1, int(p[1])); + index_y = b3Max(0, index_y); + int idx = index_x + index_y*m_width; // index in the shadowbuffer array + float shadow = 0.3+0.7*(shadowbuffer[idx]<-depth); // magic coeff to avoid z-fighting Vec3f bn = (varying_nrm*bar).normalize(); Vec2f uv = varying_uv*bar; @@ -401,37 +410,63 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) Model* model = renderData.m_model; if (0==model) return; - - renderData.m_viewportMatrix = viewport(0,0,width, height); b3AlignedObjectArray& zbuffer = renderData.m_depthBuffer; int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0; + TGAImage tempFrame(width, height, TGAImage::RGB); TGAImage& frame = renderData.m_rgbColorBuffer; - - + shadowbuffer.resize(zbuffer.size()); + for (int i = 0; i < shadowbuffer.size(); ++i) + { + shadowbuffer[i] = -1e30f; + } { - Matrix lightViewMatrix = lookat(Vec3f(0.0,0.1,2.0), Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); + Matrix lightViewMatrix = lookat(light_dir_local, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; + Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; + viewportmat = renderData.m_viewportMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - //Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); - //DepthShader shader(model, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling); - ShadowShader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); - - //printf("Render %d triangles.\n",model->nfaces()); + + + DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling); + for (int i=0; infaces(); i++) { - for (int j=0; j<3; j++) { shader.vertex(i, j); } triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); } + /* + ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height); + + for (int i=0; infaces(); i++) + { + for (int j=0; j<3; j++) { + shadowShader.vertex(i, j); + } + triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + } + + Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); + + //printf("Render %d triangles.\n",model->nfaces()); + for (int i=0; infaces(); i++) + { + + for (int j=0; j<3; j++) { + shader.vertex(i, j); + } + triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + } + */ + } } diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp index 21300945f..c2f529597 100644 --- a/examples/TinyRenderer/our_gl.cpp +++ b/examples/TinyRenderer/our_gl.cpp @@ -4,13 +4,11 @@ #include "our_gl.h" #include "Bullet3Common/b3MinMax.h" - - - IShader::~IShader() {} Matrix viewport(int x, int y, int w, int h) { + Matrix Viewport; Viewport = Matrix::identity(); Viewport[0][3] = x+w/2.f; @@ -20,6 +18,18 @@ Matrix viewport(int x, int y, int w, int h) Viewport[1][1] = h/2.f; Viewport[2][2] = 0; return Viewport; + + /* + Matrix Viewport; + Viewport = Matrix::identity(); + Viewport[0][3] = x+w/2.f; + Viewport[1][3] = y+h/2.f; + Viewport[2][3] = .5f; + Viewport[0][0] = w/2.f; + Viewport[1][1] = h/2.f; + Viewport[2][2] = .5f; + return Viewport; + */ } Matrix projection(float coeff) { @@ -75,6 +85,7 @@ Matrix lookat(Vec3f eye, Vec3f center, Vec3f up) { ModelView[3][3] = 1.f; return ModelView; + } Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) { @@ -97,8 +108,7 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, int* segmentationMaskBuffer, const Matrix& viewPortMatrix, int objectIndex) { mat<3,4,float> pts = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points - - + //we don't clip triangles that cross the near plane, just discard them instead of showing artifacts if (pts[0][3]<0 || pts[1][3] <0 || pts[2][3] <0) return; From 529274a3f4234bbd5657ee02907d7dd084b61ed5 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Sun, 27 Nov 2016 15:32:55 -0800 Subject: [PATCH 063/102] Render shadow of torus with shadow buffer and index from triangle order. --- .../RenderingExamples/TinyRendererSetup.cpp | 4 ++ .../SharedMemory/PhysicsClientExample.cpp | 2 +- .../TinyRendererVisualShapeConverter.cpp | 7 +- examples/TinyRenderer/TinyRenderer.cpp | 72 +++++++++++++------ examples/TinyRenderer/TinyRenderer.h | 5 +- examples/TinyRenderer/main.cpp | 1 + examples/TinyRenderer/our_gl.cpp | 16 +++-- 7 files changed, 76 insertions(+), 31 deletions(-) diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index a38b13abd..84f7b0033 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -23,6 +23,7 @@ struct TinyRendererSetupInternalData TGAImage m_rgbColorBuffer; b3AlignedObjectArray m_depthBuffer; + b3AlignedObjectArray m_shadowBuffer; b3AlignedObjectArray m_segmentationMaskBuffer; @@ -53,6 +54,7 @@ struct TinyRendererSetupInternalData m_animateRenderer(0) { m_depthBuffer.resize(m_width*m_height); + m_shadowBuffer.resize(m_width*m_height); // m_segmentationMaskBuffer.resize(m_width*m_height); } @@ -188,6 +190,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui) TinyRenderObjectData* ob = new TinyRenderObjectData( m_internalData->m_rgbColorBuffer, m_internalData->m_depthBuffer, + m_internalData->m_shadowBuffer, &m_internalData->m_segmentationMaskBuffer, m_internalData->m_renderObjects.size()); @@ -328,6 +331,7 @@ void TinyRendererSetup::stepSimulation(float deltaTime) { m_internalData->m_rgbColorBuffer.set(x,y,clearColor); m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f; + m_internalData->m_shadowBuffer[x+y*m_internalData->m_width] = -1e30f; } } diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 3b60d3ce7..33849d923 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) { case CMD_LOAD_URDF: { - b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf"); + b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus.urdf"); //setting the initial position, orientation and other arguments are optional double startPosX = 0; static double startPosY = 0; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 34478bee7..53d19c503 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -72,6 +72,7 @@ struct TinyRendererVisualShapeConverterInternalData TGAImage m_rgbColorBuffer; b3AlignedObjectArray m_textures; b3AlignedObjectArray m_depthBuffer; + b3AlignedObjectArray m_shadowBuffer; b3AlignedObjectArray m_segmentationMaskBuffer; btVector3 m_lightDirection; bool m_hasLightDirection; @@ -89,6 +90,7 @@ struct TinyRendererVisualShapeConverterInternalData m_hasLightColor(false) { m_depthBuffer.resize(m_swWidth*m_swHeight); + m_shadowBuffer.resize(m_swWidth*m_swHeight); m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1); } @@ -552,7 +554,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const if (vertices.size() && indices.size()) { - TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId); + TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId); unsigned char* textureImage=0; int textureWidth=0; int textureHeight=0; @@ -658,6 +660,7 @@ void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor) { m_data->m_rgbColorBuffer.set(x,y,clearColor); m_data->m_depthBuffer[x+y*m_data->m_swWidth] = -1e30f; + m_data->m_shadowBuffer[x+y*m_data->m_swWidth] = -1e30f; m_data->m_segmentationMaskBuffer[x+y*m_data->m_swWidth] = -1; } } @@ -772,6 +775,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo for (int i=0;im_swWidth;i++) { btSwap(m_data->m_depthBuffer[l1+i],m_data->m_depthBuffer[l2+i]); + btSwap(m_data->m_shadowBuffer[l1+i],m_data->m_shadowBuffer[l2+i]); btSwap(m_data->m_segmentationMaskBuffer[l1+i],m_data->m_segmentationMaskBuffer[l2+i]); } } @@ -791,6 +795,7 @@ void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height) m_data->m_swHeight = height; m_data->m_depthBuffer.resize(m_data->m_swWidth*m_data->m_swHeight); + m_data->m_shadowBuffer.resize(m_data->m_swWidth*m_data->m_swHeight); m_data->m_segmentationMaskBuffer.resize(m_data->m_swWidth*m_data->m_swHeight); m_data->m_rgbColorBuffer = TGAImage(width, height, TGAImage::RGB); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index cf71eb180..d41e6450f 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -13,8 +13,11 @@ #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btVector3.h" -b3AlignedObjectArray shadowbuffer; Matrix viewportmat; +float depth = 2.0; +int indexmap[10000000]; +int count = 0; +bool setindex = true; struct Shader : public IShader { @@ -134,7 +137,7 @@ struct DepthShader : public IShader { virtual bool fragment(Vec3f bar, TGAColor &color) { Vec4f p = varying_tri*bar; - color = TGAColor(255, 255, 255)*p[2]; + color = TGAColor(255, 255, 255)*(p[2]/depth); return false; } }; @@ -153,6 +156,8 @@ struct ShadowShader : public IShader { Matrix& m_lightModelView; Vec4f m_colorRGBA; + b3AlignedObjectArray& m_shadowBuffer; + int m_width; int m_height; @@ -163,7 +168,7 @@ struct ShadowShader : public IShader { mat<4,3,float> varying_tri_light_view; mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height) + ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray& shadowBuffer) :m_model(model), m_light_dir_local(light_dir_local), m_light_color(light_color), @@ -174,7 +179,8 @@ struct ShadowShader : public IShader { m_localScaling(localScaling), m_colorRGBA(colorRGBA), m_width(width), - m_height(height) + m_height(height), + m_shadowBuffer(shadowBuffer) { m_invModelMat = m_modelMat.invert_transpose(); } @@ -195,14 +201,18 @@ struct ShadowShader : public IShader { virtual bool fragment(Vec3f bar, TGAColor &color) { Vec4f p = viewportmat*(varying_tri_light_view*bar); - p = p/p[3]; float depth = p[2]; - int index_x = b3Min(m_width-1, int(p[0])); - index_x = b3Max(0, index_x); - int index_y = b3Min(m_height-1, int(p[1])); - index_y = b3Max(0, index_y); - int idx = index_x + index_y*m_width; // index in the shadowbuffer array - float shadow = 0.3+0.7*(shadowbuffer[idx]<-depth); // magic coeff to avoid z-fighting + //p = p/p[3]; + //int index_x = b3Min(m_width-1, int(p[0])); + //index_x = b3Max(0, index_x); + //int index_y = b3Min(m_height-1, int(p[1])); + //index_y = b3Max(0, index_y); + //int idx = index_x + index_y*m_width; // index in the shadowbuffer array + int idx = indexmap[count]; + float shadow = 0.8+0.2*(m_shadowBuffer[idx]<-depth+0.43); // magic coeff to avoid z-fighting + + //printf("count: %d, idx: %d\n", count, idx); + //printf("shadowbuffer: %f, depth: %f\n", m_shadowBuffer[idx], -depth+0.43); Vec3f bn = (varying_nrm*bar).normalize(); Vec2f uv = varying_uv*bar; @@ -234,9 +244,10 @@ struct ShadowShader : public IShader { } }; -TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer) +TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray&shadowBuffer) :m_rgbColorBuffer(rgbColorBuffer), m_depthBuffer(depthBuffer), +m_shadowBuffer(shadowBuffer), m_segmentationMaskBufferPtr(0), m_model(0), m_userData(0), @@ -254,9 +265,10 @@ m_objectIndex(-1) -TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer, b3AlignedObjectArray* segmentationMaskBuffer, int objectIndex) +TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer, b3AlignedObjectArray&shadowBuffer, b3AlignedObjectArray* segmentationMaskBuffer, int objectIndex) :m_rgbColorBuffer(rgbColorBuffer), m_depthBuffer(depthBuffer), +m_shadowBuffer(shadowBuffer), m_segmentationMaskBufferPtr(segmentationMaskBuffer), m_model(0), m_userData(0), @@ -414,18 +426,14 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) renderData.m_viewportMatrix = viewport(0,0,width, height); b3AlignedObjectArray& zbuffer = renderData.m_depthBuffer; + b3AlignedObjectArray& shadowbuffer = renderData.m_shadowBuffer; int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0; TGAImage tempFrame(width, height, TGAImage::RGB); TGAImage& frame = renderData.m_rgbColorBuffer; - shadowbuffer.resize(zbuffer.size()); - for (int i = 0; i < shadowbuffer.size(); ++i) + { - shadowbuffer[i] = -1e30f; - } - - { - Matrix lightViewMatrix = lookat(light_dir_local, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); + Matrix lightViewMatrix = lookat(light_dir_local*depth, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; @@ -435,16 +443,31 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling); + setindex = true; + count = 0; + for (int i=0; infaces(); i++) { for (int j=0; j<3; j++) { shader.vertex(i, j); } - triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + triangle(shader.varying_tri, shader, tempFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + count++; } - /* - ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height); + for (int k = 0; k < 76800; ++k) + { + if (shadowbuffer[k] > -1e30f+0.00001) + { + printf("[%d]: %f\n", k, shadowbuffer[k]); + } + } + + + ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); + + setindex = false; + count = 0; for (int i=0; infaces(); i++) { @@ -452,8 +475,11 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) shadowShader.vertex(i, j); } triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + count++; } + + /* Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); //printf("Render %d triangles.\n",model->nfaces()); diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index fcb8298bd..745667782 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -29,10 +29,11 @@ struct TinyRenderObjectData TGAImage& m_rgbColorBuffer; b3AlignedObjectArray& m_depthBuffer;//required, hence a reference + b3AlignedObjectArray& m_shadowBuffer; b3AlignedObjectArray* m_segmentationMaskBufferPtr;//optional, hence a pointer - TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer); - TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer, b3AlignedObjectArray* segmentationMaskBuffer,int objectIndex); + TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray&shadowBuffer); + TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray&shadowBuffer, b3AlignedObjectArray* segmentationMaskBuffer,int objectIndex); virtual ~TinyRenderObjectData(); void loadModel(const char* fileName); diff --git a/examples/TinyRenderer/main.cpp b/examples/TinyRenderer/main.cpp index 32f5e7edd..614b12d3a 100644 --- a/examples/TinyRenderer/main.cpp +++ b/examples/TinyRenderer/main.cpp @@ -147,6 +147,7 @@ int main(int argc, char* argv[]) renderData.m_rgbColorBuffer.set(x,y,color); renderData.m_depthBuffer[x+y*textureWidth] = -1e30f; + renderData.m_shadowBuffer[x+y*textureWidth] = -1e30f; } } diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp index c2f529597..46c08dd45 100644 --- a/examples/TinyRenderer/our_gl.cpp +++ b/examples/TinyRenderer/our_gl.cpp @@ -4,11 +4,15 @@ #include "our_gl.h" #include "Bullet3Common/b3MinMax.h" +extern int indexmap[10000000]; +extern int count; +extern bool setindex; + IShader::~IShader() {} Matrix viewport(int x, int y, int w, int h) { - + /* Matrix Viewport; Viewport = Matrix::identity(); Viewport[0][3] = x+w/2.f; @@ -18,8 +22,8 @@ Matrix viewport(int x, int y, int w, int h) Viewport[1][1] = h/2.f; Viewport[2][2] = 0; return Viewport; + */ - /* Matrix Viewport; Viewport = Matrix::identity(); Viewport[0][3] = x+w/2.f; @@ -29,7 +33,7 @@ Matrix viewport(int x, int y, int w, int h) Viewport[1][1] = h/2.f; Viewport[2][2] = .5f; return Viewport; - */ + } Matrix projection(float coeff) { @@ -140,7 +144,11 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb Vec3f bc_clip = Vec3f(bc_screen.x/pts[0][3], bc_screen.y/pts[1][3], bc_screen.z/pts[2][3]); bc_clip = bc_clip/(bc_clip.x+bc_clip.y+bc_clip.z); float frag_depth = -1*(clipc[2]*bc_clip); - if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 || + if (setindex) + { + indexmap[count] = P.x+P.y*image.get_width(); + } + if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 || zbuffer[P.x+P.y*image.get_width()]>frag_depth) continue; bool discard = shader.fragment(bc_clip, color); From 583dc1cac713c610267d587b56bdc5f1b68c9348 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Sun, 27 Nov 2016 15:34:01 -0800 Subject: [PATCH 064/102] Add torus. --- data/torus/torus.mtl | 10 + data/torus/torus.obj | 1446 +++++++++++++++++++++++++++++++++++++++++ data/torus/torus.urdf | 33 + 3 files changed, 1489 insertions(+) create mode 100644 data/torus/torus.mtl create mode 100644 data/torus/torus.obj create mode 100644 data/torus/torus.urdf diff --git a/data/torus/torus.mtl b/data/torus/torus.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/data/torus/torus.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/data/torus/torus.obj b/data/torus/torus.obj new file mode 100644 index 000000000..4aafd8fce --- /dev/null +++ b/data/torus/torus.obj @@ -0,0 +1,1446 @@ +# Blender v2.77 (sub 0) OBJ File: '' +# www.blender.org +mtllib torus.mtl +o Torus +v 1.269537 0.006289 0.009606 +v 1.236043 0.131289 0.009606 +v 1.144537 0.222796 0.009606 +v 1.019537 0.256289 0.009606 +v 0.894537 0.222796 0.009606 +v 0.803031 0.131289 0.009606 +v 0.769537 0.006289 0.009606 +v 0.803031 -0.118711 0.009606 +v 0.894537 -0.210217 0.009606 +v 1.019537 -0.243711 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From 0bc4e0a4c31bad9eac7ef275d7ec74bd3cccef7a Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Sun, 27 Nov 2016 16:53:15 -0800 Subject: [PATCH 065/102] Render multiple objects with shadow. --- data/torus/plane_only.mtl | 10 + data/torus/plane_only.obj | 7913 ++++++++++++++ data/torus/torus_only.mtl | 12 + data/torus/torus_only.obj | 1474 +++ data/torus/torus_with_plane.mtl | 10 + data/torus/torus_with_plane.obj | 9384 +++++++++++++++++ data/torus/torus_with_plane.urdf | 33 + data/torus/torus_with_separate_plane.urdf | 48 + .../SharedMemory/PhysicsClientExample.cpp | 2 +- .../TinyRendererVisualShapeConverter.cpp | 47 +- examples/TinyRenderer/TinyRenderer.cpp | 114 +- examples/TinyRenderer/TinyRenderer.h | 2 + 12 files changed, 19039 insertions(+), 10 deletions(-) create mode 100644 data/torus/plane_only.mtl create mode 100644 data/torus/plane_only.obj create mode 100644 data/torus/torus_only.mtl create mode 100644 data/torus/torus_only.obj create mode 100644 data/torus/torus_with_plane.mtl create mode 100644 data/torus/torus_with_plane.obj create mode 100644 data/torus/torus_with_plane.urdf create mode 100644 data/torus/torus_with_separate_plane.urdf diff --git a/data/torus/plane_only.mtl b/data/torus/plane_only.mtl new file mode 100644 index 000000000..70d3ba1da --- /dev/null +++ b/data/torus/plane_only.mtl @@ -0,0 +1,10 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0 +Ka 0.000000 0.000000 0.000000 +Kd 0.8 0.8 0.8 +Ks 0.8 0.8 0.8 +d 1 +illum 2 diff --git a/data/torus/plane_only.obj b/data/torus/plane_only.obj new file mode 100644 index 000000000..893742a69 --- /dev/null +++ b/data/torus/plane_only.obj @@ -0,0 +1,7913 @@ +# Blender v2.77 (sub 0) OBJ File: '' +# www.blender.org +mtllib plane_only.mtl +o Plane +v -2.312398 -6.126618 0.566384 +v 6.032325 -2.575601 0.280679 +v -5.874205 2.203907 0.074895 +v 2.470518 5.754926 -0.210810 +v -5.804365 2.040563 0.084532 +v -5.734526 1.877220 0.094169 +v -5.664686 1.713876 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+f 3278//286 2724//286 2726//286 3279//286 +f 3279//317 2726//317 2728//317 3280//317 +f 3280//284 2728//284 2705//284 3269//284 diff --git a/data/torus/torus_with_plane.urdf b/data/torus/torus_with_plane.urdf new file mode 100644 index 000000000..3db35dec2 --- /dev/null +++ b/data/torus/torus_with_plane.urdf @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/torus/torus_with_separate_plane.urdf b/data/torus/torus_with_separate_plane.urdf new file mode 100644 index 000000000..050301f4a --- /dev/null +++ b/data/torus/torus_with_separate_plane.urdf @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index 33849d923..a6aa6aca3 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) { case CMD_LOAD_URDF: { - b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus.urdf"); + b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus_with_separate_plane.urdf"); //setting the initial position, orientation and other arguments are optional double startPosX = 0; static double startPosY = 0; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 53d19c503..7afdada11 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -36,6 +36,8 @@ subject to the following restrictions: #include "../TinyRenderer/model.h" #include "../ThirdPartyLibs/stb_image/stb_image.h" +extern int count; + enum MyFileType { @@ -721,6 +723,8 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo lightColor = m_data->m_lightColor; } + count = 0; + // printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); for (int i=0;im_swRenderInstances.size();i++) { @@ -757,7 +761,48 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_lightColor = lightColor; } } - TinyRenderer::renderObject(*renderObj); + TinyRenderer::renderObjectDepth(*renderObj); + } + } + + count = 0; + + for (int i=0;im_swRenderInstances.size();i++) + { + TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(i); + if (0==visualArrayPtr) + continue;//can this ever happen? + TinyRendererObjectArray* visualArray = *visualArrayPtr; + + btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(i); + + + const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer(); + + for (int v=0;vm_renderObjects.size();v++) + { + + TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v]; + + + //sync the object transform + const btTransform& tr = colObj->getWorldTransform(); + tr.getOpenGLMatrix(modelMat); + + for (int i=0;i<4;i++) + { + for (int j=0;j<4;j++) + { + + renderObj->m_projectionMatrix[i][j] = projMat[i+4*j]; + renderObj->m_modelMatrix[i][j] = modelMat[i+4*j]; + renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; + renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); + renderObj->m_lightDirWorld = lightDirWorld; + renderObj->m_lightColor = lightColor; + } + } + TinyRenderer::renderObjectShadow(*renderObj); } } //printf("write tga \n"); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index d41e6450f..d449e4a3a 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -455,14 +455,13 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) count++; } - for (int k = 0; k < 76800; ++k) - { - if (shadowbuffer[k] > -1e30f+0.00001) - { - printf("[%d]: %f\n", k, shadowbuffer[k]); - } - } - + for (int k = 0; k < 76800; ++k) + { + if (shadowbuffer[k] > -1e30f+0.00001) + { + //printf("[%d]: %f\n", k, shadowbuffer[k]); + } + } ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); @@ -496,3 +495,102 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) } } + +void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) +{ + int width = renderData.m_rgbColorBuffer.get_width(); + int height = renderData.m_rgbColorBuffer.get_height(); + + Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); + Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]); + Model* model = renderData.m_model; + if (0==model) + return; + + renderData.m_viewportMatrix = viewport(0,0,width, height); + + b3AlignedObjectArray& zbuffer = renderData.m_depthBuffer; + b3AlignedObjectArray& shadowbuffer = renderData.m_shadowBuffer; + int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0; + + TGAImage tempFrame(width, height, TGAImage::RGB); + TGAImage& frame = renderData.m_rgbColorBuffer; + + { + Matrix lightViewMatrix = lookat(light_dir_local*depth, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); + Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; + Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; + Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; + viewportmat = renderData.m_viewportMatrix; + Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); + + + DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling); + + setindex = true; + + for (int i=0; infaces(); i++) + { + for (int j=0; j<3; j++) { + shader.vertex(i, j); + } + triangle(shader.varying_tri, shader, tempFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + count++; + } + + for (int k = 0; k < 76800; ++k) + { + if (shadowbuffer[k] > -1e30f+0.00001) + { + //printf("[%d]: %f\n", k, shadowbuffer[k]); + } + } + + } + +} + +void TinyRenderer::renderObjectShadow(TinyRenderObjectData& renderData) +{ + int width = renderData.m_rgbColorBuffer.get_width(); + int height = renderData.m_rgbColorBuffer.get_height(); + + Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); + Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]); + Model* model = renderData.m_model; + if (0==model) + return; + + renderData.m_viewportMatrix = viewport(0,0,width, height); + + b3AlignedObjectArray& zbuffer = renderData.m_depthBuffer; + b3AlignedObjectArray& shadowbuffer = renderData.m_shadowBuffer; + int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0; + + TGAImage tempFrame(width, height, TGAImage::RGB); + TGAImage& frame = renderData.m_rgbColorBuffer; + + { + Matrix lightViewMatrix = lookat(light_dir_local*depth, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); + Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; + Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; + Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; + viewportmat = renderData.m_viewportMatrix; + Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); + + ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); + + setindex = false; + + for (int i=0; infaces(); i++) + { + for (int j=0; j<3; j++) { + shadowShader.vertex(i, j); + } + triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + printf("count: %d\n", count); + count++; + } + } + +} diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 745667782..39a4743c6 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -53,6 +53,8 @@ class TinyRenderer { public: static void renderObject(TinyRenderObjectData& renderData); + static void renderObjectDepth(TinyRenderObjectData& renderData); + static void renderObjectShadow(TinyRenderObjectData& renderData); }; #endif // TINY_RENDERER_Hbla From d48b03f23b7da6b6a26428deb006f42cad1cae97 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Mon, 28 Nov 2016 10:13:09 -0800 Subject: [PATCH 066/102] Use the barycentric coordinate to get the coordinate in shadow buffer. --- examples/TinyRenderer/TinyRenderer.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index d449e4a3a..1b7013487 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -202,14 +202,14 @@ struct ShadowShader : public IShader { virtual bool fragment(Vec3f bar, TGAColor &color) { Vec4f p = viewportmat*(varying_tri_light_view*bar); float depth = p[2]; - //p = p/p[3]; - //int index_x = b3Min(m_width-1, int(p[0])); - //index_x = b3Max(0, index_x); - //int index_y = b3Min(m_height-1, int(p[1])); - //index_y = b3Max(0, index_y); - //int idx = index_x + index_y*m_width; // index in the shadowbuffer array - int idx = indexmap[count]; - float shadow = 0.8+0.2*(m_shadowBuffer[idx]<-depth+0.43); // magic coeff to avoid z-fighting + p = p/p[3]; + int index_x = b3Min(m_width-1, int(p[0])); + index_x = b3Max(0, index_x); + int index_y = b3Min(m_height-1, int(p[1])); + index_y = b3Max(0, index_y); + int idx = index_x + index_y*m_width; // index in the shadowbuffer array + //int idx = indexmap[count]; + float shadow = 0.8+0.2*(m_shadowBuffer[idx]<-depth+0.2); // magic coeff to avoid z-fighting //printf("count: %d, idx: %d\n", count, idx); //printf("shadowbuffer: %f, depth: %f\n", m_shadowBuffer[idx], -depth+0.43); From 2e372a525e05443e757041ac95f6823908e565e4 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 28 Nov 2016 12:36:52 -0800 Subject: [PATCH 067/102] remove duplicate 'setTimeStep' in pybullet.c --- examples/pybullet/pybullet.c | 5 ----- 1 file changed, 5 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 1947ec103..61b57c083 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -3301,11 +3301,6 @@ static PyMethodDef SpamMethods[] = { "Set the amount of time to proceed at each call to stepSimulation. (unit " "is seconds, typically range is 0.01 or 0.001)"}, - - {"setTimeStep", pybullet_setTimeStep, METH_VARARGS, - "Set the amount of time to proceed at each call to stepSimulation." - " (unit is seconds, typically range is 0.01 or 0.001)"}, - {"setDefaultContactERP", pybullet_setDefaultContactERP, METH_VARARGS, "Set the amount of contact penetration Error Recovery Paramater " "(ERP) in each time step. \ From 2d42c7963a545c1822289ee45ba41c574bc535ea Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 28 Nov 2016 15:11:34 -0800 Subject: [PATCH 068/102] add pybullet getBaseVelocity / resetBaseVelocity C-API b3CreatePoseCommandSetBaseLinearVelocity/b3CreatePoseCommandSetBaseAngularVelocity --- examples/SharedMemory/PhysicsClientC_API.cpp | 36 ++ examples/SharedMemory/PhysicsClientC_API.h | 3 + .../PhysicsServerCommandProcessor.cpp | 26 +- examples/SharedMemory/SharedMemoryCommands.h | 6 +- examples/pybullet/pybullet.c | 420 +++++++++++++----- 5 files changed, 373 insertions(+), 118 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index e60953750..24d7e298c 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -672,6 +672,40 @@ int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHan return 0; } +int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3]) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_INIT_POSE); + command->m_updateFlags |= INIT_POSE_HAS_BASE_LINEAR_VELOCITY; + command->m_initPoseArgs.m_hasInitialStateQdot[0] = 1; + command->m_initPoseArgs.m_hasInitialStateQdot[1] = 1; + command->m_initPoseArgs.m_hasInitialStateQdot[2] = 1; + + command->m_initPoseArgs.m_initialStateQdot[0] = linVel[0]; + command->m_initPoseArgs.m_initialStateQdot[1] = linVel[1]; + command->m_initPoseArgs.m_initialStateQdot[2] = linVel[2]; + + return 0; +} + +int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3]) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_INIT_POSE); + command->m_updateFlags |= INIT_POSE_HAS_BASE_ANGULAR_VELOCITY; + command->m_initPoseArgs.m_hasInitialStateQdot[3] = 1; + command->m_initPoseArgs.m_hasInitialStateQdot[4] = 1; + command->m_initPoseArgs.m_hasInitialStateQdot[5] = 1; + + command->m_initPoseArgs.m_initialStateQdot[3] = angVel[0]; + command->m_initPoseArgs.m_initialStateQdot[4] = angVel[1]; + command->m_initPoseArgs.m_initialStateQdot[5] = angVel[2]; + + return 0; +} + int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; @@ -686,6 +720,8 @@ int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHand return 0; } + + int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index b9da28cd5..f8377c089 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -256,6 +256,9 @@ int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, do b3SharedMemoryCommandHandle b3CreatePoseCommandInit(b3PhysicsClientHandle physClient, int bodyIndex); int b3CreatePoseCommandSetBasePosition(b3SharedMemoryCommandHandle commandHandle, double startPosX,double startPosY,double startPosZ); int b3CreatePoseCommandSetBaseOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW); +int b3CreatePoseCommandSetBaseLinearVelocity(b3SharedMemoryCommandHandle commandHandle, double linVel[3]); +int b3CreatePoseCommandSetBaseAngularVelocity(b3SharedMemoryCommandHandle commandHandle, double angVel[3]); + int b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHandle, int numJointPositions, const double* jointPositions); int b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 18231566f..d0a3dca38 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2342,6 +2342,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm if (body && body->m_multiBody) { btMultiBody* mb = body->m_multiBody; + btVector3 baseLinVel(0, 0, 0); + btVector3 baseAngVel(0, 0, 0); + + + if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY) + { + baseLinVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[0], + clientCmd.m_initPoseArgs.m_initialStateQdot[1], + clientCmd.m_initPoseArgs.m_initialStateQdot[2]); + mb->setBaseVel(baseLinVel); + + } + + if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY) + { + baseAngVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[3], + clientCmd.m_initPoseArgs.m_initialStateQdot[4], + clientCmd.m_initPoseArgs.m_initialStateQdot[5]); + mb->setBaseOmega(baseAngVel); + } + + if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION) { btVector3 zero(0,0,0); @@ -2349,7 +2371,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm clientCmd.m_initPoseArgs.m_hasInitialStateQ[1] && clientCmd.m_initPoseArgs.m_hasInitialStateQ[2]); - mb->setBaseVel(zero); + mb->setBaseVel(baseLinVel); mb->setBasePos(btVector3( clientCmd.m_initPoseArgs.m_initialStateQ[0], clientCmd.m_initPoseArgs.m_initialStateQ[1], @@ -2362,7 +2384,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm clientCmd.m_initPoseArgs.m_hasInitialStateQ[5] && clientCmd.m_initPoseArgs.m_hasInitialStateQ[6]); - mb->setBaseOmega(btVector3(0,0,0)); + mb->setBaseOmega(baseAngVel); btQuaternion invOrn(clientCmd.m_initPoseArgs.m_initialStateQ[3], clientCmd.m_initPoseArgs.m_initialStateQ[4], clientCmd.m_initPoseArgs.m_initialStateQ[5], diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 5b3346433..5d25059c2 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -109,7 +109,9 @@ enum EnumInitPoseFlags { INIT_POSE_HAS_INITIAL_POSITION=1, INIT_POSE_HAS_INITIAL_ORIENTATION=2, - INIT_POSE_HAS_JOINT_STATE=4 + INIT_POSE_HAS_JOINT_STATE=4, + INIT_POSE_HAS_BASE_LINEAR_VELOCITY = 8, + INIT_POSE_HAS_BASE_ANGULAR_VELOCITY = 16, }; @@ -122,6 +124,8 @@ struct InitPoseArgs int m_bodyUniqueId; int m_hasInitialStateQ[MAX_DEGREE_OF_FREEDOM]; double m_initialStateQ[MAX_DEGREE_OF_FREEDOM]; + int m_hasInitialStateQdot[MAX_DEGREE_OF_FREEDOM]; + double m_initialStateQdot[MAX_DEGREE_OF_FREEDOM]; }; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 61b57c083..7aeaab7e0 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -30,6 +30,123 @@ enum eCONNECT_METHOD { static PyObject* SpamError; static b3PhysicsClientHandle sm = 0; + +static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index) { + double v = 0.0; + PyObject* item; + + if (PyList_Check(seq)) { + item = PyList_GET_ITEM(seq, index); + v = PyFloat_AsDouble(item); + } + else { + item = PyTuple_GET_ITEM(seq, index); + v = PyFloat_AsDouble(item); + } + return v; +} + + +// internal function to set a float matrix[16] +// used to initialize camera position with +// a view and projection matrix in renderImage() +// +// // Args: +// matrix - float[16] which will be set by values from objMat +static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) { + int i, len; + PyObject* seq; + + seq = PySequence_Fast(objMat, "expected a sequence"); + if (seq) + { + len = PySequence_Size(objMat); + if (len == 16) { + for (i = 0; i < len; i++) { + matrix[i] = pybullet_internalGetFloatFromSequence(seq, i); + } + Py_DECREF(seq); + return 1; + } + Py_DECREF(seq); + } + return 0; +} + +// internal function to set a float vector[3] +// used to initialize camera position with +// a view and projection matrix in renderImage() +// +// // Args: +// vector - float[3] which will be set by values from objMat +static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) { + int i, len; + PyObject* seq = 0; + if (objVec == NULL) + return 0; + + seq = PySequence_Fast(objVec, "expected a sequence"); + if (seq) + { + + len = PySequence_Size(objVec); + if (len == 3) { + for (i = 0; i < len; i++) { + vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + } + Py_DECREF(seq); + return 1; + } + Py_DECREF(seq); + } + return 0; +} + +// vector - double[3] which will be set by values from obVec +static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) { + int i, len; + PyObject* seq; + if (obVec == NULL) + return 0; + + seq = PySequence_Fast(obVec, "expected a sequence"); + if (seq) + { + len = PySequence_Size(obVec); + if (len == 3) { + for (i = 0; i < len; i++) { + vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + } + Py_DECREF(seq); + return 1; + } + Py_DECREF(seq); + } + return 0; +} + +// vector - double[3] which will be set by values from obVec +static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4]) { + int i, len; + PyObject* seq; + if (obVec == NULL) + return 0; + + seq = PySequence_Fast(obVec, "expected a sequence"); + len = PySequence_Size(obVec); + if (len == 4) { + for (i = 0; i < len; i++) { + vector[i] = pybullet_internalGetFloatFromSequence(seq, i); + } + Py_DECREF(seq); + return 1; + } + Py_DECREF(seq); + return 0; +} + + + // Step through one timestep of the simulation static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args) { if (0 == sm) { @@ -371,19 +488,6 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args) { return PyLong_FromLong(bodyIndex); } -static double pybullet_internalGetFloatFromSequence(PyObject* seq, int index) { - double v = 0.0; - PyObject* item; - - if (PyList_Check(seq)) { - item = PyList_GET_ITEM(seq, index); - v = PyFloat_AsDouble(item); - } else { - item = PyTuple_GET_ITEM(seq, index); - v = PyFloat_AsDouble(item); - } - return v; -} @@ -768,11 +872,68 @@ pybullet_setDefaultContactERP(PyObject* self, PyObject* args) return Py_None; } +static int pybullet_internalGetBaseVelocity( + int bodyIndex, double baseLinearVelocity[3], double baseAngularVelocity[3]) { + baseLinearVelocity[0] = 0.; + baseLinearVelocity[1] = 0.; + baseLinearVelocity[2] = 0.; + + baseAngularVelocity[0] = 0.; + baseAngularVelocity[1] = 0.; + baseAngularVelocity[2] = 0.; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return 0; + } + + { + { + b3SharedMemoryCommandHandle cmd_handle = + b3RequestActualStateCommandInit(sm, bodyIndex); + b3SharedMemoryStatusHandle status_handle = + b3SubmitClientCommandAndWaitStatus(sm, cmd_handle); + + const int status_type = b3GetStatusType(status_handle); + const double* actualStateQdot; + // const double* jointReactionForces[]; + + + if (status_type != CMD_ACTUAL_STATE_UPDATE_COMPLETED) { + PyErr_SetString(SpamError, "getBaseVelocity failed."); + return 0; + } + + b3GetStatusActualState( + status_handle, 0 /* body_unique_id */, + 0 /* num_degree_of_freedom_q */, 0 /* num_degree_of_freedom_u */, + 0 /*root_local_inertial_frame*/, 0, + &actualStateQdot, 0 /* joint_reaction_forces */); + + // printf("joint reaction forces="); + // for (i=0; i < (sizeof(jointReactionForces)/sizeof(double)); i++) { + // printf("%f ", jointReactionForces[i]); + // } + // now, position x,y,z = actualStateQ[0],actualStateQ[1],actualStateQ[2] + // and orientation x,y,z,w = + // actualStateQ[3],actualStateQ[4],actualStateQ[5],actualStateQ[6] + baseLinearVelocity[0] = actualStateQdot[0]; + baseLinearVelocity[1] = actualStateQdot[1]; + baseLinearVelocity[2] = actualStateQdot[2]; + + baseAngularVelocity[0] = actualStateQdot[3]; + baseAngularVelocity[1] = actualStateQdot[4]; + baseAngularVelocity[2] = actualStateQdot[5]; + + } + } + return 1; +} // Internal function used to get the base position and orientation // Orientation is returned in quaternions static int pybullet_internalGetBasePositionAndOrientation( - int bodyIndex, double basePosition[3], double baseOrientation[3]) { + int bodyIndex, double basePosition[3], double baseOrientation[4]) { basePosition[0] = 0.; basePosition[1] = 0.; basePosition[2] = 0.; @@ -855,8 +1016,7 @@ static PyObject* pybullet_getBasePositionAndOrientation(PyObject* self, if (0 == pybullet_internalGetBasePositionAndOrientation( bodyIndex, basePosition, baseOrientation)) { PyErr_SetString(SpamError, - "GetBasePositionAndOrientation failed (#joints/links " - "exceeds maximum?)."); + "GetBasePositionAndOrientation failed."); return NULL; } @@ -891,6 +1051,62 @@ static PyObject* pybullet_getBasePositionAndOrientation(PyObject* self, } } + +static PyObject* pybullet_getBaseVelocity(PyObject* self, + PyObject* args) { + int bodyIndex = -1; + double baseLinearVelocity[3]; + double baseAngularVelocity[3]; + PyObject* pylistLinVel=0; + PyObject* pylistAngVel=0; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + if (!PyArg_ParseTuple(args, "i", &bodyIndex)) { + PyErr_SetString(SpamError, "Expected a body index (integer)."); + return NULL; + } + + if (0 == pybullet_internalGetBaseVelocity( + bodyIndex, baseLinearVelocity, baseAngularVelocity)) { + PyErr_SetString(SpamError, + "getBaseVelocity failed."); + return NULL; + } + + { + PyObject* item; + int i; + int num = 3; + pylistLinVel = PyTuple_New(num); + for (i = 0; i < num; i++) { + item = PyFloat_FromDouble(baseLinearVelocity[i]); + PyTuple_SetItem(pylistLinVel, i, item); + } + } + + { + PyObject* item; + int i; + int num = 3; + pylistAngVel = PyTuple_New(num); + for (i = 0; i < num; i++) { + item = PyFloat_FromDouble(baseAngularVelocity[i]); + PyTuple_SetItem(pylistAngVel, i, item); + } + } + + { + PyObject* pylist; + pylist = PyTuple_New(2); + PyTuple_SetItem(pylist, 0, pylistLinVel); + PyTuple_SetItem(pylist, 1, pylistAngVel); + return pylist; + } +} static PyObject* pybullet_getNumBodies(PyObject* self, PyObject* args) { if (0 == sm) { @@ -1035,6 +1251,66 @@ static PyObject* pybullet_resetJointState(PyObject* self, PyObject* args) { return NULL; } + + + +static PyObject* pybullet_resetBaseVelocity(PyObject* self, PyObject* args, PyObject *keywds) +{ + static char *kwlist[] = { "objectUniqueId", "linearVelocity", "angularVelocity", NULL }; + + if (0 == sm) + { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + { + int bodyIndex=0; + PyObject* linVelObj=0; + PyObject* angVelObj=0; + double linVel[3] = { 0, 0, 0 }; + double angVel[3] = { 0, 0, 0 }; + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OO", kwlist, &bodyIndex, &linVelObj, &angVelObj)) + { + return NULL; + } + if (linVelObj || angVelObj) + { + + b3SharedMemoryCommandHandle commandHandle; + b3SharedMemoryStatusHandle statusHandle; + + commandHandle = b3CreatePoseCommandInit(sm, bodyIndex); + + if (linVelObj) + { + pybullet_internalSetVectord(linVelObj, linVel); + b3CreatePoseCommandSetBaseLinearVelocity(commandHandle, linVel); + } + + if (angVelObj) + { + pybullet_internalSetVectord(angVelObj, angVel); + b3CreatePoseCommandSetBaseAngularVelocity(commandHandle, angVel); + } + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle); + Py_INCREF(Py_None); + return Py_None; + } + else + { + PyErr_SetString(SpamError, "expected at least linearVelocity and/or angularVelocity."); + return NULL; + } + } + PyErr_SetString(SpamError, "error in resetJointState."); + return NULL; +} + + + // Reset the position and orientation of the base/root link, position [x,y,z] // and orientation quaternion [x,y,z,w] static PyObject* pybullet_resetBasePositionAndOrientation(PyObject* self, @@ -1366,105 +1642,6 @@ static PyObject* pybullet_getLinkState(PyObject* self, PyObject* args) { return Py_None; } -// internal function to set a float matrix[16] -// used to initialize camera position with -// a view and projection matrix in renderImage() -// -// // Args: -// matrix - float[16] which will be set by values from objMat -static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16]) { - int i, len; - PyObject* seq; - - seq = PySequence_Fast(objMat, "expected a sequence"); - if (seq) - { - len = PySequence_Size(objMat); - if (len == 16) { - for (i = 0; i < len; i++) { - matrix[i] = pybullet_internalGetFloatFromSequence(seq, i); - } - Py_DECREF(seq); - return 1; - } - Py_DECREF(seq); - } - return 0; -} - -// internal function to set a float vector[3] -// used to initialize camera position with -// a view and projection matrix in renderImage() -// -// // Args: -// vector - float[3] which will be set by values from objMat -static int pybullet_internalSetVector(PyObject* objVec, float vector[3]) { - int i, len; - PyObject* seq=0; - if (objVec==NULL) - return 0; - - seq = PySequence_Fast(objVec, "expected a sequence"); - if (seq) - { - - len = PySequence_Size(objVec); - if (len == 3) { - for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); - } - Py_DECREF(seq); - return 1; - } - Py_DECREF(seq); - } - return 0; -} - -// vector - double[3] which will be set by values from obVec -static int pybullet_internalSetVectord(PyObject* obVec, double vector[3]) { - int i, len; - PyObject* seq; - if (obVec==NULL) - return 0; - - seq = PySequence_Fast(obVec, "expected a sequence"); - if (seq) - { - len = PySequence_Size(obVec); - if (len == 3) { - for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); - } - Py_DECREF(seq); - return 1; - } - Py_DECREF(seq); - } - return 0; -} - -// vector - double[3] which will be set by values from obVec -static int pybullet_internalSetVector4d(PyObject* obVec, double vector[4]) { - int i, len; - PyObject* seq; - if (obVec==NULL) - return 0; - - seq = PySequence_Fast(obVec, "expected a sequence"); - len = PySequence_Size(obVec); - if (len == 4) { - for (i = 0; i < len; i++) { - vector[i] = pybullet_internalGetFloatFromSequence(seq, i); - } - Py_DECREF(seq); - return 1; - } - Py_DECREF(seq); - return 0; -} - - static PyObject* pybullet_addUserDebugText(PyObject* self, PyObject* args, PyObject *keywds) { @@ -3361,6 +3538,19 @@ static PyMethodDef SpamMethods[] = { "instantaneously, not through physics simulation. (x,y,z) position vector " "and (x,y,z,w) quaternion orientation."}, + { "getBaseVelocity", pybullet_getBaseVelocity, + METH_VARARGS, + "Get the linear and angular velocity of the base of the object " + " in world space coordinates. " + "(x,y,z) linear velocity vector and (x,y,z) angular velocity vector." }, + + { "resetBaseVelocity", (PyCFunction)pybullet_resetBaseVelocity, METH_VARARGS | METH_KEYWORDS, + "Reset the linear and/or angular velocity of the base of the object " + " in world space coordinates. " + "linearVelocity (x,y,z) and angularVelocity (x,y,z)." }, + + + {"getNumJoints", pybullet_getNumJoints, METH_VARARGS, "Get the number of joints for an object."}, From 8de35cf01cc4c6024c3732852dd1b1bad63365d3 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 29 Nov 2016 09:09:35 -0800 Subject: [PATCH 069/102] remove prefix/postfix from pybullet, so it becomes pybullet.so and pybullet_d.so in debug mode (and on Windows, pybullet.pyd and pybullet_d.pyd) fix build_cmake_pybullet_win32.bat, so it links against correct version of pythonx.lib pythonx_d.lib. Still, I would prefer using premake on Windows, it has more native Visual Studio features. --- build_cmake_pybullet_win32.bat | 2 +- examples/pybullet/CMakeLists.txt | 3 +++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/build_cmake_pybullet_win32.bat b/build_cmake_pybullet_win32.bat index 33317f2c1..f3e672899 100644 --- a/build_cmake_pybullet_win32.bat +++ b/build_cmake_pybullet_win32.bat @@ -1,4 +1,4 @@ mkdir cm cd cm -cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35_d.lib .. +cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib .. start . diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt index 8d95cc67e..85de30a69 100644 --- a/examples/pybullet/CMakeLists.txt +++ b/examples/pybullet/CMakeLists.txt @@ -110,6 +110,9 @@ ELSE(BUILD_PYBULLET_ENET) ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS}) ENDIF(BUILD_PYBULLET_ENET) +SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "") +SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "") + SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION}) SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION}) SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d") From 5fe36ca2001f0c04f9870285a0a25e2f6ace71d6 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 29 Nov 2016 11:11:41 -0800 Subject: [PATCH 070/102] Clean global variables. --- .../TinyRendererVisualShapeConverter.cpp | 36 ++-- examples/TinyRenderer/TinyRenderer.cpp | 161 ++++-------------- examples/TinyRenderer/TinyRenderer.h | 1 + examples/TinyRenderer/our_gl.cpp | 8 - 4 files changed, 47 insertions(+), 159 deletions(-) diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 7afdada11..13aa4b19b 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -36,9 +36,6 @@ subject to the following restrictions: #include "../TinyRenderer/model.h" #include "../ThirdPartyLibs/stb_image/stb_image.h" -extern int count; - - enum MyFileType { MY_FILE_STL=1, @@ -723,17 +720,16 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo lightColor = m_data->m_lightColor; } - count = 0; + float lightDistance = 2.0; - // printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size()); - for (int i=0;im_swRenderInstances.size();i++) + for (int n=0;nm_swRenderInstances.size();n++) { - TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(i); + TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(n); if (0==visualArrayPtr) continue;//can this ever happen? TinyRendererObjectArray* visualArray = *visualArrayPtr; - btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(i); + btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n); const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer(); @@ -756,25 +752,24 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_projectionMatrix[i][j] = projMat[i+4*j]; renderObj->m_modelMatrix[i][j] = modelMat[i+4*j]; renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; - renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); - renderObj->m_lightDirWorld = lightDirWorld; - renderObj->m_lightColor = lightColor; } } + renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); + renderObj->m_lightDirWorld = lightDirWorld; + renderObj->m_lightColor = lightColor; + renderObj->m_lightDistance = lightDistance; TinyRenderer::renderObjectDepth(*renderObj); } } - - count = 0; - - for (int i=0;im_swRenderInstances.size();i++) + + for (int n=0;nm_swRenderInstances.size();n++) { - TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(i); + TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(n); if (0==visualArrayPtr) continue;//can this ever happen? TinyRendererObjectArray* visualArray = *visualArrayPtr; - btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(i); + btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n); const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer(); @@ -797,11 +792,12 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_projectionMatrix[i][j] = projMat[i+4*j]; renderObj->m_modelMatrix[i][j] = modelMat[i+4*j]; renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; - renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); - renderObj->m_lightDirWorld = lightDirWorld; - renderObj->m_lightColor = lightColor; } } + renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); + renderObj->m_lightDirWorld = lightDirWorld; + renderObj->m_lightColor = lightColor; + renderObj->m_lightDistance = lightDistance; TinyRenderer::renderObjectShadow(*renderObj); } } diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 1b7013487..974a8db5e 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -13,12 +13,6 @@ #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btVector3.h" -Matrix viewportmat; -float depth = 2.0; -int indexmap[10000000]; -int count = 0; -bool setindex = true; - struct Shader : public IShader { Model* m_model; @@ -28,7 +22,7 @@ struct Shader : public IShader { Matrix m_invModelMat; Matrix& m_modelView1; - Matrix& m_projectionMatrix; + Matrix& m_projectionMat; Vec3f m_localScaling; Vec4f m_colorRGBA; @@ -37,12 +31,12 @@ struct Shader : public IShader { mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS //mat<3,3,float> ndc_tri; // triangle in normalized device coordinates - Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) + Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& projectionMat, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) :m_model(model), m_light_dir_local(light_dir_local), m_light_color(light_color), m_modelView1(modelView), - m_projectionMatrix(projectionMatrix), + m_projectionMat(projectionMat), m_modelMat(modelMat), m_localScaling(localScaling), m_colorRGBA(colorRGBA) @@ -63,7 +57,7 @@ struct Shader : public IShader { unScaledVert[1]*m_localScaling[1], unScaledVert[2]*m_localScaling[2]); - Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert); + Vec4f gl_Vertex = m_projectionMat*m_modelView1*embed<4>(scaledVert); varying_tri.set_col(nthvert, gl_Vertex); return gl_Vertex; } @@ -104,21 +98,23 @@ struct DepthShader : public IShader { Matrix& m_modelMat; Matrix m_invModelMat; - Matrix& m_projectionMatrix; + Matrix& m_projectionMat; Vec3f m_localScaling; Matrix& m_lightModelView; + float m_lightDistance; mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling) + DepthShader(Model* model, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Vec3f localScaling, float lightDistance) :m_model(model), m_lightModelView(lightModelView), - m_projectionMatrix(projectionMatrix), + m_projectionMat(projectionMat), m_modelMat(modelMat), - m_localScaling(localScaling) + m_localScaling(localScaling), + m_lightDistance(lightDistance) { m_invModelMat = m_modelMat.invert_transpose(); } @@ -130,14 +126,14 @@ struct DepthShader : public IShader { Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0], unScaledVert[1]*m_localScaling[1], unScaledVert[2]*m_localScaling[2]); - Vec4f gl_Vertex = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert); + Vec4f gl_Vertex = m_projectionMat*m_lightModelView*embed<4>(scaledVert); varying_tri.set_col(nthvert, gl_Vertex); return gl_Vertex; } virtual bool fragment(Vec3f bar, TGAColor &color) { Vec4f p = varying_tri*bar; - color = TGAColor(255, 255, 255)*(p[2]/depth); + color = TGAColor(255, 255, 255)*(p[2]/m_lightDistance); return false; } }; @@ -151,10 +147,11 @@ struct ShadowShader : public IShader { Matrix m_invModelMat; Matrix& m_modelView1; - Matrix& m_projectionMatrix; + Matrix& m_projectionMat; Vec3f m_localScaling; Matrix& m_lightModelView; Vec4f m_colorRGBA; + Matrix& m_viewportMat; b3AlignedObjectArray& m_shadowBuffer; @@ -168,14 +165,15 @@ struct ShadowShader : public IShader { mat<4,3,float> varying_tri_light_view; mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray& shadowBuffer) + ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray& shadowBuffer) :m_model(model), m_light_dir_local(light_dir_local), m_light_color(light_color), m_modelView1(modelView), m_lightModelView(lightModelView), - m_projectionMatrix(projectionMatrix), + m_projectionMat(projectionMat), m_modelMat(modelMat), + m_viewportMat(viewportMat), m_localScaling(localScaling), m_colorRGBA(colorRGBA), m_width(width), @@ -192,28 +190,24 @@ struct ShadowShader : public IShader { Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0], unScaledVert[1]*m_localScaling[1], unScaledVert[2]*m_localScaling[2]); - Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert); + Vec4f gl_Vertex = m_projectionMat*m_modelView1*embed<4>(scaledVert); varying_tri.set_col(nthvert, gl_Vertex); - Vec4f gl_VertexLightView = m_projectionMatrix*m_lightModelView*embed<4>(scaledVert); + Vec4f gl_VertexLightView = m_projectionMat*m_lightModelView*embed<4>(scaledVert); varying_tri_light_view.set_col(nthvert, gl_VertexLightView); return gl_Vertex; } virtual bool fragment(Vec3f bar, TGAColor &color) { - Vec4f p = viewportmat*(varying_tri_light_view*bar); + Vec4f p = m_viewportMat*(varying_tri_light_view*bar); float depth = p[2]; p = p/p[3]; - int index_x = b3Min(m_width-1, int(p[0])); - index_x = b3Max(0, index_x); - int index_y = b3Min(m_height-1, int(p[1])); - index_y = b3Max(0, index_y); + + int index_x = b3Max(0, b3Min(m_width-1, int(p[0]))); + int index_y = b3Max(0, b3Min(m_height-1, int(p[1]))); int idx = index_x + index_y*m_width; // index in the shadowbuffer array //int idx = indexmap[count]; float shadow = 0.8+0.2*(m_shadowBuffer[idx]<-depth+0.2); // magic coeff to avoid z-fighting - //printf("count: %d, idx: %d\n", count, idx); - //printf("shadowbuffer: %f, depth: %f\n", m_shadowBuffer[idx], -depth+0.43); - Vec3f bn = (varying_nrm*bar).normalize(); Vec2f uv = varying_uv*bar; @@ -414,86 +408,7 @@ TinyRenderObjectData::~TinyRenderObjectData() void TinyRenderer::renderObject(TinyRenderObjectData& renderData) { - int width = renderData.m_rgbColorBuffer.get_width(); - int height = renderData.m_rgbColorBuffer.get_height(); - - Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); - Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]); - Model* model = renderData.m_model; - if (0==model) - return; - - renderData.m_viewportMatrix = viewport(0,0,width, height); - - b3AlignedObjectArray& zbuffer = renderData.m_depthBuffer; - b3AlignedObjectArray& shadowbuffer = renderData.m_shadowBuffer; - int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0; - - TGAImage tempFrame(width, height, TGAImage::RGB); - TGAImage& frame = renderData.m_rgbColorBuffer; - - { - Matrix lightViewMatrix = lookat(light_dir_local*depth, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); - Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; - Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; - Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; - viewportmat = renderData.m_viewportMatrix; - Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - - - DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling); - - setindex = true; - count = 0; - - for (int i=0; infaces(); i++) - { - for (int j=0; j<3; j++) { - shader.vertex(i, j); - } - triangle(shader.varying_tri, shader, tempFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); - count++; - } - - for (int k = 0; k < 76800; ++k) - { - if (shadowbuffer[k] > -1e30f+0.00001) - { - //printf("[%d]: %f\n", k, shadowbuffer[k]); - } - } - - ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); - - setindex = false; - count = 0; - - for (int i=0; infaces(); i++) - { - for (int j=0; j<3; j++) { - shadowShader.vertex(i, j); - } - triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); - count++; - } - - - /* - Shader shader(model, light_dir_local, light_color, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA()); - - //printf("Render %d triangles.\n",model->nfaces()); - for (int i=0; infaces(); i++) - { - - for (int j=0; j<3; j++) { - shader.vertex(i, j); - } - triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); - } - */ - - } - + } void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) @@ -503,6 +418,7 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]); + float light_distance = renderData.m_lightDistance; Model* model = renderData.m_model; if (0==model) return; @@ -517,17 +433,14 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) TGAImage& frame = renderData.m_rgbColorBuffer; { - Matrix lightViewMatrix = lookat(light_dir_local*depth, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); + Matrix lightViewMatrix = lookat(light_dir_local*light_distance, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; - viewportmat = renderData.m_viewportMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling); - - setindex = true; + DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling, light_distance); for (int i=0; infaces(); i++) { @@ -535,17 +448,7 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) shader.vertex(i, j); } triangle(shader.varying_tri, shader, tempFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); - count++; } - - for (int k = 0; k < 76800; ++k) - { - if (shadowbuffer[k] > -1e30f+0.00001) - { - //printf("[%d]: %f\n", k, shadowbuffer[k]); - } - } - } } @@ -557,6 +460,7 @@ void TinyRenderer::renderObjectShadow(TinyRenderObjectData& renderData) Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]); + float light_distance = renderData.m_lightDistance; Model* model = renderData.m_model; if (0==model) return; @@ -571,16 +475,13 @@ void TinyRenderer::renderObjectShadow(TinyRenderObjectData& renderData) TGAImage& frame = renderData.m_rgbColorBuffer; { - Matrix lightViewMatrix = lookat(light_dir_local*depth, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); + Matrix lightViewMatrix = lookat(light_dir_local*light_distance, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; - viewportmat = renderData.m_viewportMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); - - setindex = false; + ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); for (int i=0; infaces(); i++) { @@ -588,8 +489,6 @@ void TinyRenderer::renderObjectShadow(TinyRenderObjectData& renderData) shadowShader.vertex(i, j); } triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); - printf("count: %d\n", count); - count++; } } diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 39a4743c6..28c684b36 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -19,6 +19,7 @@ struct TinyRenderObjectData btVector3 m_localScaling; btVector3 m_lightDirWorld; btVector3 m_lightColor; + float m_lightDistance; //Model (vertices, indices, textures, shader) Matrix m_modelMatrix; diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp index 46c08dd45..cd38a9ab7 100644 --- a/examples/TinyRenderer/our_gl.cpp +++ b/examples/TinyRenderer/our_gl.cpp @@ -4,10 +4,6 @@ #include "our_gl.h" #include "Bullet3Common/b3MinMax.h" -extern int indexmap[10000000]; -extern int count; -extern bool setindex; - IShader::~IShader() {} Matrix viewport(int x, int y, int w, int h) @@ -144,10 +140,6 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb Vec3f bc_clip = Vec3f(bc_screen.x/pts[0][3], bc_screen.y/pts[1][3], bc_screen.z/pts[2][3]); bc_clip = bc_clip/(bc_clip.x+bc_clip.y+bc_clip.z); float frag_depth = -1*(clipc[2]*bc_clip); - if (setindex) - { - indexmap[count] = P.x+P.y*image.get_width(); - } if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 || zbuffer[P.x+P.y*image.get_width()]>frag_depth) continue; From 86c5dfe8f4fe43cf0068743b1a1f719a3e36a245 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 29 Nov 2016 11:43:52 -0800 Subject: [PATCH 071/102] Fix the light color issue in box rendering example. --- examples/RenderingExamples/TinyRendererSetup.cpp | 4 +++- examples/SharedMemory/TinyRendererVisualShapeConverter.cpp | 2 +- examples/TinyRenderer/TinyRenderer.cpp | 7 +------ examples/TinyRenderer/TinyRenderer.h | 3 +-- 4 files changed, 6 insertions(+), 10 deletions(-) diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index 84f7b0033..21906d787 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -154,7 +154,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui) const char* fileName = "textured_sphere_smooth.obj"; fileName = "cube.obj"; - { @@ -373,6 +372,9 @@ void TinyRendererSetup::stepSimulation(float deltaTime) }; m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized(); + + btVector3 lightColor(1.0,1.0,1.0); + m_internalData->m_renderObjects[o]->m_lightColor = lightColor; } } diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 13aa4b19b..aed5ae467 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -798,7 +798,7 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_lightDirWorld = lightDirWorld; renderObj->m_lightColor = lightColor; renderObj->m_lightDistance = lightDistance; - TinyRenderer::renderObjectShadow(*renderObj); + TinyRenderer::renderObject(*renderObj); } } //printf("write tga \n"); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 974a8db5e..592667309 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -406,11 +406,6 @@ TinyRenderObjectData::~TinyRenderObjectData() delete m_model; } -void TinyRenderer::renderObject(TinyRenderObjectData& renderData) -{ - -} - void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) { int width = renderData.m_rgbColorBuffer.get_width(); @@ -453,7 +448,7 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) } -void TinyRenderer::renderObjectShadow(TinyRenderObjectData& renderData) +void TinyRenderer::renderObject(TinyRenderObjectData& renderData) { int width = renderData.m_rgbColorBuffer.get_width(); int height = renderData.m_rgbColorBuffer.get_height(); diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 28c684b36..d82060382 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -53,9 +53,8 @@ struct TinyRenderObjectData class TinyRenderer { public: - static void renderObject(TinyRenderObjectData& renderData); static void renderObjectDepth(TinyRenderObjectData& renderData); - static void renderObjectShadow(TinyRenderObjectData& renderData); + static void renderObject(TinyRenderObjectData& renderData); }; #endif // TINY_RENDERER_Hbla From 8aa90a7427e9723a4f0466accfa9859d584a3bad Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 29 Nov 2016 12:53:50 -0800 Subject: [PATCH 072/102] Refactor shader and render pipeline code. --- .../TinyRendererVisualShapeConverter.cpp | 88 +++++++++------ .../TinyRendererVisualShapeConverter.h | 2 + examples/TinyRenderer/TinyRenderer.cpp | 105 ++---------------- 3 files changed, 67 insertions(+), 128 deletions(-) diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index aed5ae467..a36dc4b1f 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -77,6 +77,9 @@ struct TinyRendererVisualShapeConverterInternalData bool m_hasLightDirection; btVector3 m_lightColor; bool m_hasLightColor; + float m_lightDistance; + bool m_hasLightDistance; + bool m_hasShadow; SimpleCamera m_camera; @@ -86,7 +89,8 @@ struct TinyRendererVisualShapeConverterInternalData m_swHeight(START_HEIGHT), m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB), m_hasLightDirection(false), - m_hasLightColor(false) + m_hasLightColor(false), + m_hasShadow(true) { m_depthBuffer.resize(m_swWidth*m_swHeight); m_shadowBuffer.resize(m_swWidth*m_swHeight); @@ -127,6 +131,17 @@ void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z) m_data->m_hasLightColor = true; } +void TinyRendererVisualShapeConverter::setLightDistance(float dist) +{ + m_data->m_lightDistance = dist; + m_data->m_hasLightDistance = true; +} + +void TinyRendererVisualShapeConverter::setShadow(bool hasShadow) +{ + m_data->m_hasShadow = hasShadow; +} + void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut, b3VisualShapeData& visualShapeOut) { @@ -721,44 +736,51 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo } float lightDistance = 2.0; - - for (int n=0;nm_swRenderInstances.size();n++) + if (m_data->m_hasLightDistance) { - TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(n); - if (0==visualArrayPtr) - continue;//can this ever happen? - TinyRendererObjectArray* visualArray = *visualArrayPtr; - - btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n); - - - const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer(); - - for (int v=0;vm_renderObjects.size();v++) - { - - TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v]; - - - //sync the object transform - const btTransform& tr = colObj->getWorldTransform(); - tr.getOpenGLMatrix(modelMat); + lightDistance = m_data->m_hasLightDistance; + } - for (int i=0;i<4;i++) + if (m_data->m_hasShadow) + { + for (int n=0;nm_swRenderInstances.size();n++) + { + TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(n); + if (0==visualArrayPtr) + continue;//can this ever happen? + TinyRendererObjectArray* visualArray = *visualArrayPtr; + + btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(n); + + + const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer(); + + for (int v=0;vm_renderObjects.size();v++) { - for (int j=0;j<4;j++) + + TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v]; + + + //sync the object transform + const btTransform& tr = colObj->getWorldTransform(); + tr.getOpenGLMatrix(modelMat); + + for (int i=0;i<4;i++) { - - renderObj->m_projectionMatrix[i][j] = projMat[i+4*j]; - renderObj->m_modelMatrix[i][j] = modelMat[i+4*j]; - renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; + for (int j=0;j<4;j++) + { + + renderObj->m_projectionMatrix[i][j] = projMat[i+4*j]; + renderObj->m_modelMatrix[i][j] = modelMat[i+4*j]; + renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; + } } + renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); + renderObj->m_lightDirWorld = lightDirWorld; + renderObj->m_lightColor = lightColor; + renderObj->m_lightDistance = lightDistance; + TinyRenderer::renderObjectDepth(*renderObj); } - renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); - renderObj->m_lightDirWorld = lightDirWorld; - renderObj->m_lightColor = lightColor; - renderObj->m_lightDistance = lightDistance; - TinyRenderer::renderObjectDepth(*renderObj); } } diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index b2ed166e6..a081b4d22 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -34,6 +34,8 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void setWidthAndHeight(int width, int height); void setLightDirection(float x, float y, float z); void setLightColor(float x, float y, float z); + void setLightDistance(float dist); + void setShadow(bool hasShadow); void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied); diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 592667309..9607d43c4 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -13,85 +13,6 @@ #include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btVector3.h" -struct Shader : public IShader { - - Model* m_model; - Vec3f m_light_dir_local; - Vec3f m_light_color; - Matrix& m_modelMat; - Matrix m_invModelMat; - - Matrix& m_modelView1; - Matrix& m_projectionMat; - Vec3f m_localScaling; - Vec4f m_colorRGBA; - - mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader - mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS - mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - //mat<3,3,float> ndc_tri; // triangle in normalized device coordinates - - Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& projectionMat, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA) - :m_model(model), - m_light_dir_local(light_dir_local), - m_light_color(light_color), - m_modelView1(modelView), - m_projectionMat(projectionMat), - m_modelMat(modelMat), - m_localScaling(localScaling), - m_colorRGBA(colorRGBA) - { - m_invModelMat = m_modelMat.invert_transpose(); - } - - virtual Vec4f vertex(int iface, int nthvert) { - Vec2f uv = m_model->uv(iface, nthvert); - varying_uv.set_col(nthvert, uv); - //varying_nrm.set_col(nthvert, proj<3>((m_projectionMatrix*m_modelView).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f))); - varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f))); - //m_localNormal = m_model->normal(iface, nthvert); - //varying_nrm.set_col(nthvert, m_model->normal(iface, nthvert)); - Vec3f unScaledVert = m_model->vert(iface, nthvert); - - Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0], - unScaledVert[1]*m_localScaling[1], - unScaledVert[2]*m_localScaling[2]); - - Vec4f gl_Vertex = m_projectionMat*m_modelView1*embed<4>(scaledVert); - varying_tri.set_col(nthvert, gl_Vertex); - return gl_Vertex; - } - - virtual bool fragment(Vec3f bar, TGAColor &color) { - Vec3f bn = (varying_nrm*bar).normalize(); - Vec2f uv = varying_uv*bar; - - Vec3f reflection_direction = (bn * (bn * m_light_dir_local * 2.f) - m_light_dir_local).normalize(); - float specular = pow(b3Max(reflection_direction.z, 0.f), m_model->specular(uv)); - float diffuse = b3Max(0.f, bn * m_light_dir_local); - - float ambient_coefficient = 0.6; - float diffuse_coefficient = 0.35; - float specular_coefficient = 0.05; - - float intensity = ambient_coefficient + b3Min(diffuse * diffuse_coefficient + specular * specular_coefficient, 1.0f - ambient_coefficient); - - color = m_model->diffuse(uv) * intensity; - - //warning: bgra color is swapped to rgba to upload texture - color.bgra[0] *= m_colorRGBA[0]; - color.bgra[1] *= m_colorRGBA[1]; - color.bgra[2] *= m_colorRGBA[2]; - color.bgra[3] *= m_colorRGBA[3]; - - color.bgra[0] *= m_light_color[0]; - color.bgra[1] *= m_light_color[1]; - color.bgra[2] *= m_light_color[2]; - - return false; - } -}; - struct DepthShader : public IShader { Model* m_model; @@ -138,7 +59,7 @@ struct DepthShader : public IShader { } }; -struct ShadowShader : public IShader { +struct Shader : public IShader { Model* m_model; Vec3f m_light_dir_local; @@ -165,7 +86,7 @@ struct ShadowShader : public IShader { mat<4,3,float> varying_tri_light_view; mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - ShadowShader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray& shadowBuffer) + Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray& shadowBuffer) :m_model(model), m_light_dir_local(light_dir_local), m_light_color(light_color), @@ -205,7 +126,6 @@ struct ShadowShader : public IShader { int index_x = b3Max(0, b3Min(m_width-1, int(p[0]))); int index_y = b3Max(0, b3Min(m_height-1, int(p[1]))); int idx = index_x + index_y*m_width; // index in the shadowbuffer array - //int idx = indexmap[count]; float shadow = 0.8+0.2*(m_shadowBuffer[idx]<-depth+0.2); // magic coeff to avoid z-fighting Vec3f bn = (varying_nrm*bar).normalize(); @@ -412,7 +332,6 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) int height = renderData.m_rgbColorBuffer.get_height(); Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]); - Vec3f light_color = Vec3f(renderData.m_lightColor[0],renderData.m_lightColor[1],renderData.m_lightColor[2]); float light_distance = renderData.m_lightDistance; Model* model = renderData.m_model; if (0==model) @@ -420,21 +339,18 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) renderData.m_viewportMatrix = viewport(0,0,width, height); - b3AlignedObjectArray& zbuffer = renderData.m_depthBuffer; b3AlignedObjectArray& shadowbuffer = renderData.m_shadowBuffer; - int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0; + int* segmentationMaskBufferPtr = 0; - TGAImage tempFrame(width, height, TGAImage::RGB); - TGAImage& frame = renderData.m_rgbColorBuffer; + TGAImage depthFrame(width, height, TGAImage::RGB); { + // light target is set to be the origin, and the up direction is set to be vertical up. Matrix lightViewMatrix = lookat(light_dir_local*light_distance, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; - Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - DepthShader shader(model, lightModelViewMatrix, lightViewProjectionMatrix,renderData.m_modelMatrix, localScaling, light_distance); for (int i=0; infaces(); i++) @@ -442,7 +358,7 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) for (int j=0; j<3; j++) { shader.vertex(i, j); } - triangle(shader.varying_tri, shader, tempFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + triangle(shader.varying_tri, shader, depthFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); } } @@ -466,24 +382,23 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) b3AlignedObjectArray& shadowbuffer = renderData.m_shadowBuffer; int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0; - TGAImage tempFrame(width, height, TGAImage::RGB); TGAImage& frame = renderData.m_rgbColorBuffer; { + // light target is set to be the origin, and the up direction is set to be vertical up. Matrix lightViewMatrix = lookat(light_dir_local*light_distance, Vec3f(0.0,0.0,0.0), Vec3f(0.0,0.0,1.0)); Matrix lightModelViewMatrix = lightViewMatrix*renderData.m_modelMatrix; - Matrix lightViewProjectionMatrix = renderData.m_projectionMatrix; Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - ShadowShader shadowShader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); + Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); for (int i=0; infaces(); i++) { for (int j=0; j<3; j++) { - shadowShader.vertex(i, j); + shader.vertex(i, j); } - triangle(shadowShader.varying_tri, shadowShader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + triangle(shader.varying_tri, shader, frame, &zbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); } } From 1fbd78ece55dc50664125905f606db4d77f0ea87 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 29 Nov 2016 13:19:35 -0800 Subject: [PATCH 073/102] Add shared memory API for setting shadow and light source distance. --- examples/SharedMemory/PhysicsClientC_API.cpp | 18 +++++++++++++ examples/SharedMemory/PhysicsClientC_API.h | 2 ++ .../SharedMemory/PhysicsClientExample.cpp | 27 +++++++++++++++---- .../PhysicsServerCommandProcessor.cpp | 10 +++++++ examples/SharedMemory/SharedMemoryCommands.h | 4 +++ examples/SharedMemory/SharedMemoryPublic.h | 1 + .../TinyRendererVisualShapeConverter.cpp | 2 +- 7 files changed, 58 insertions(+), 6 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 1edfc5edf..5cabfc362 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1256,6 +1256,24 @@ void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR; } +void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + command->m_requestPixelDataArguments.m_lightDistance = lightDistance; + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE; +} + +void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, bool hasShadow) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + command->m_requestPixelDataArguments.m_hasShadow = hasShadow; + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SHADOW; +} + void b3ComputeViewMatrixFromPositions(const float cameraPosition[3], const float cameraTargetPosition[3], const float cameraUp[3], float viewMatrix[16]) { b3Vector3 eye = b3MakeVector3(cameraPosition[0], cameraPosition[1], cameraPosition[2]); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 023962c2a..a28a6d09f 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -98,6 +98,8 @@ void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, int width, int height ); void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]); void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]); +void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance); +void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, bool hasShadow); void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp index a6aa6aca3..98c59b2d5 100644 --- a/examples/SharedMemory/PhysicsClientExample.cpp +++ b/examples/SharedMemory/PhysicsClientExample.cpp @@ -89,10 +89,10 @@ protected: virtual void resetCamera() { - float dist = 1.233281; - float pitch = 193; - float yaw = 25; - float targetPos[3]={0.103042,-0.469102,0.631005};//-3,2.8,-2.5}; + float dist = 4; + float pitch = 193; + float yaw = 25; + float targetPos[3]={0,0,0.5};//-3,2.8,-2.5}; m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]); } @@ -242,7 +242,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) { case CMD_LOAD_URDF: { - b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "torus/torus_with_separate_plane.urdf"); + b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf"); //setting the initial position, orientation and other arguments are optional double startPosX = 0; static double startPosY = 0; @@ -481,6 +481,22 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId) } break; } + case CMD_SET_SHADOW: + { + b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle); + float viewMatrix[16]; + float projectionMatrix[16]; + m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix); + m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix); + + b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix); + b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight); + bool hasShadow = true; + b3RequestCameraImageSetShadow(commandHandle, hasShadow); + b3SubmitClientCommand(m_physicsClientHandle, commandHandle); + break; + } + default: { b3Error("Unknown buttonId"); @@ -556,6 +572,7 @@ void PhysicsClientExample::createButtons() createButton("Load URDF",CMD_LOAD_URDF, isTrigger); createButton("Load SDF",CMD_LOAD_SDF, isTrigger); createButton("Save World",CMD_SAVE_WORLD, isTrigger); + createButton("Set Shadow",CMD_SET_SHADOW, isTrigger); createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger); createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger); createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 373f11989..68cb5ce8b 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1425,6 +1425,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { m_data->m_visualConverter.setLightColor(clientCmd.m_requestPixelDataArguments.m_lightColor[0], clientCmd.m_requestPixelDataArguments.m_lightColor[1], clientCmd.m_requestPixelDataArguments.m_lightColor[2]); } + + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE) != 0) + { + m_data->m_visualConverter.setLightDistance(clientCmd.m_requestPixelDataArguments.m_lightDistance); + } + + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SHADOW) != 0) + { + m_data->m_visualConverter.setShadow(clientCmd.m_requestPixelDataArguments.m_hasShadow); + } if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0) { diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 07c40d90c..7f9f4771b 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -140,6 +140,8 @@ struct RequestPixelDataArgs int m_pixelHeight; float m_lightDirection[3]; float m_lightColor[3]; + float m_lightDistance; + bool m_hasShadow; }; enum EnumRequestPixelDataUpdateFlags @@ -148,6 +150,8 @@ enum EnumRequestPixelDataUpdateFlags REQUEST_PIXEL_ARGS_SET_PIXEL_WIDTH_HEIGHT=2, REQUEST_PIXEL_ARGS_SET_LIGHT_DIRECTION=4, REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8, + REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE=16, + REQUEST_PIXEL_ARGS_SET_SHADOW=32, //don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h }; diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index d6a8e246a..c92d30141 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -40,6 +40,7 @@ enum EnumSharedMemoryClientCommand CMD_REQUEST_VISUAL_SHAPE_INFO, CMD_UPDATE_VISUAL_SHAPE, CMD_LOAD_TEXTURE, + CMD_SET_SHADOW, CMD_USER_DEBUG_DRAW, //don't go beyond this command! diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index a36dc4b1f..dc5d7a561 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -90,7 +90,7 @@ struct TinyRendererVisualShapeConverterInternalData m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB), m_hasLightDirection(false), m_hasLightColor(false), - m_hasShadow(true) + m_hasShadow(false) { m_depthBuffer.resize(m_swWidth*m_swHeight); m_shadowBuffer.resize(m_swWidth*m_swHeight); From b40c9cde96cb0d9e094e176671f0898d9caba5a9 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 29 Nov 2016 13:50:49 -0800 Subject: [PATCH 074/102] Add torus shadow render example. --- .../RenderingExamples/TinyRendererSetup.cpp | 42 ++++++++++++++++++- examples/TinyRenderer/our_gl.cpp | 36 ---------------- 2 files changed, 41 insertions(+), 37 deletions(-) diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index 21906d787..e8cf9f255 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -154,6 +154,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui) const char* fileName = "textured_sphere_smooth.obj"; fileName = "cube.obj"; + fileName = "torus/torus_with_plane.obj"; { @@ -342,7 +343,44 @@ void TinyRendererSetup::stepSimulation(float deltaTime) render->getActiveCamera()->getCameraViewMatrix(viewMat); render->getActiveCamera()->getCameraProjectionMatrix(projMat); - + for (int o=0;om_internalData->m_renderObjects.size();o++) + { + + const btTransform& tr = m_internalData->m_transforms[o]; + tr.getOpenGLMatrix(modelMat2); + + + for (int i=0;i<4;i++) + { + for (int j=0;j<4;j++) + { + m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]); + m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j]; + m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j]; + + btVector3 lightDirWorld; + switch (m_app->getUpAxis()) + { + case 1: + lightDirWorld = btVector3(-50.f,100,30); + break; + case 2: + lightDirWorld = btVector3(-50.f,30,100); + break; + default:{} + }; + + m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized(); + + btVector3 lightColor(1.0,1.0,1.0); + m_internalData->m_renderObjects[o]->m_lightColor = lightColor; + + m_internalData->m_renderObjects[o]->m_lightDistance = 10.0; + + } + } + TinyRenderer::renderObjectDepth(*m_internalData->m_renderObjects[o]); + } for (int o=0;om_internalData->m_renderObjects.size();o++) { @@ -375,6 +413,8 @@ void TinyRendererSetup::stepSimulation(float deltaTime) btVector3 lightColor(1.0,1.0,1.0); m_internalData->m_renderObjects[o]->m_lightColor = lightColor; + + m_internalData->m_renderObjects[o]->m_lightDistance = 10.0; } } diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp index cd38a9ab7..04863503b 100644 --- a/examples/TinyRenderer/our_gl.cpp +++ b/examples/TinyRenderer/our_gl.cpp @@ -8,18 +8,6 @@ IShader::~IShader() {} Matrix viewport(int x, int y, int w, int h) { - /* - Matrix Viewport; - Viewport = Matrix::identity(); - Viewport[0][3] = x+w/2.f; - Viewport[1][3] = y+h/2.f; - Viewport[2][3] = 1.f; - Viewport[0][0] = w/2.f; - Viewport[1][1] = h/2.f; - Viewport[2][2] = 0; - return Viewport; - */ - Matrix Viewport; Viewport = Matrix::identity(); Viewport[0][3] = x+w/2.f; @@ -29,7 +17,6 @@ Matrix viewport(int x, int y, int w, int h) Viewport[1][1] = h/2.f; Viewport[2][2] = .5f; return Viewport; - } Matrix projection(float coeff) { @@ -40,23 +27,6 @@ Matrix projection(float coeff) { } Matrix lookat(Vec3f eye, Vec3f center, Vec3f up) { - /* - Vec3f z = (eye-center).normalize(); - Vec3f x = cross(up,z).normalize(); - Vec3f y = cross(z,x).normalize(); - Matrix Minv = Matrix::identity(); - Matrix Tr = Matrix::identity(); - for (int i=0; i<3; i++) { - Minv[0][i] = x[i]; - Minv[1][i] = y[i]; - Minv[2][i] = z[i]; - Tr[i][3] = -center[i]; - } - Matrix ModelView; - ModelView = Minv*Tr; - return ModelView; - */ - Vec3f f = (center - eye).normalize(); Vec3f u = up.normalize(); Vec3f s = cross(f,u).normalize(); @@ -85,7 +55,6 @@ Matrix lookat(Vec3f eye, Vec3f center, Vec3f up) { ModelView[3][3] = 1.f; return ModelView; - } Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) { @@ -113,7 +82,6 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb if (pts[0][3]<0 || pts[1][3] <0 || pts[2][3] <0) return; - mat<3,2,float> pts2; for (int i=0; i<3; i++) pts2[i] = proj<2>(pts[i]/pts[i][3]); @@ -128,15 +96,11 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb } } - - Vec2i P; TGAColor color; for (P.x=bboxmin.x; P.x<=bboxmax.x; P.x++) { for (P.y=bboxmin.y; P.y<=bboxmax.y; P.y++) { Vec3f bc_screen = barycentric(pts2[0], pts2[1], pts2[2], P); - - Vec3f bc_clip = Vec3f(bc_screen.x/pts[0][3], bc_screen.y/pts[1][3], bc_screen.z/pts[2][3]); bc_clip = bc_clip/(bc_clip.x+bc_clip.y+bc_clip.z); float frag_depth = -1*(clipc[2]*bc_clip); From 0cb2b21b5fd46bf22a762fd1a3baa0b54760ec8a Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 29 Nov 2016 14:10:07 -0800 Subject: [PATCH 075/102] Add pybullet API for shadow. --- examples/SharedMemory/PhysicsClientC_API.cpp | 2 +- examples/SharedMemory/PhysicsClientC_API.h | 2 +- examples/SharedMemory/SharedMemoryCommands.h | 2 +- examples/pybullet/pybullet.c | 15 ++++++++++----- 4 files changed, 13 insertions(+), 8 deletions(-) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 5cabfc362..dafe5880e 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1265,7 +1265,7 @@ void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHan command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE; } -void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, bool hasShadow) +void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; b3Assert(command); diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index a28a6d09f..778e2e5b8 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -99,7 +99,7 @@ void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]); void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]); void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance); -void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, bool hasShadow); +void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow); void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index 7f9f4771b..eb91f3156 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -141,7 +141,7 @@ struct RequestPixelDataArgs float m_lightDirection[3]; float m_lightColor[3]; float m_lightDistance; - bool m_hasShadow; + int m_hasShadow; }; enum EnumRequestPixelDataUpdateFlags diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 1e3c10a38..2f36fa669 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2209,7 +2209,7 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py /// Render an image from the current timestep of the simulation, width, height are required, other args are optional -// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3]) +// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow) static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) { /// request an image from a simulated camera, using a software renderer. @@ -2221,6 +2221,8 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec float projectionMatrix[16]; float lightDir[3]; float lightColor[3]; + float lightDist = 10.0; + int hasShadow = 0; // inialize cmd b3SharedMemoryCommandHandle command; @@ -2232,10 +2234,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec command = b3InitRequestCameraImage(sm); - // set camera resolution, optionally view, projection matrix, light direction - static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", NULL }; + // 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", NULL }; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOO", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow)) { return NULL; } @@ -2257,6 +2259,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec b3RequestCameraImageSetLightColor(command, lightColor); } + b3RequestCameraImageSetLightDistance(command, lightDist); + + b3RequestCameraImageSetShadow(command, hasShadow); if (b3CanSubmitCommand(sm)) { @@ -3339,7 +3344,7 @@ static PyMethodDef SpamMethods[] = { { "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS, "Render an image (given the pixel resolution width, height, camera viewMatrix " - ", projectionMatrix and lightDirection), and return the " + ", projectionMatrix, lightDirection, lightColor, lightDistance, and shadow), and return the " "8-8-8bit RGB pixel data and floating point depth values" #ifdef PYBULLET_USE_NUMPY " as NumPy arrays" From 746c4d0d2a7a4525bd54c6315111df556b48c975 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Tue, 29 Nov 2016 17:08:47 -0800 Subject: [PATCH 076/102] add a tray, similar to those ones: https://research.googleblog.com/2016/03/deep-learning-for-robots-learning-from.html tune the VR demo a bit, to make it more user friendly. --- data/tray/tray.jpg | Bin 0 -> 369344 bytes data/tray/tray_textured2.mtl | 13 + data/tray/tray_textured2.obj | 255 ++++++++++++++++++ data/tray/tray_textured2.urdf | 24 ++ .../PhysicsServerCommandProcessor.cpp | 72 +++-- .../PhysicsServerCommandProcessor.h | 3 + .../SharedMemory/PhysicsServerExample.cpp | 11 +- 7 files changed, 351 insertions(+), 27 deletions(-) create mode 100644 data/tray/tray.jpg create mode 100644 data/tray/tray_textured2.mtl create mode 100644 data/tray/tray_textured2.obj create 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JMHOhH|Jh~9G`au) literal 0 HcmV?d00001 diff --git a/data/tray/tray_textured2.mtl b/data/tray/tray_textured2.mtl new file mode 100644 index 000000000..4689a463a --- /dev/null +++ b/data/tray/tray_textured2.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'tray_textured2.blend' +# Material Count: 1 + +newmtl None +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +map_Kd tray.jpg diff --git a/data/tray/tray_textured2.obj b/data/tray/tray_textured2.obj new file mode 100644 index 000000000..98a8962c6 --- /dev/null +++ b/data/tray/tray_textured2.obj @@ -0,0 +1,255 @@ +# Blender v2.78 (sub 0) OBJ File: 'tray_textured2.blend' +# www.blender.org +mtllib tray_textured2.mtl +o edge_1_Cube.003 +v 0.580000 0.590083 0.250354 +v -0.419960 0.426691 -0.001860 +v -0.580000 0.590083 0.250354 +v 0.580000 0.573309 0.261247 +v 0.420014 0.426691 -0.001059 +v -0.580000 0.573309 0.261247 +v 0.420014 0.409917 0.009834 +v -0.419960 0.409917 0.009033 +vt 0.8346 0.9187 +vt 0.2203 0.8574 +vt 0.1480 0.9187 +vt 0.8346 0.9129 +vt 0.7623 0.8574 +vt 0.1480 0.9129 +vt 0.7623 0.8511 +vt 0.2203 0.8511 +vn 0.0004 0.8386 -0.5448 +vn 0.0001 0.8391 -0.5439 +vn -0.0000 0.8393 -0.5437 +vn 0.8823 -0.2564 -0.3948 +vn -0.0004 -0.8392 0.5439 +vn -0.0001 -0.8386 0.5447 +vn 0.0000 -0.8385 0.5449 +vn -0.8826 -0.2560 -0.3942 +vn 0.0008 -0.5446 -0.8387 +vn -0.0000 0.5446 0.8387 +vn 0.0005 0.8383 -0.5452 +vn -0.0005 -0.8394 0.5435 +usemtl None +s 1 +f 1/1/1 2/2/2 3/3/3 +f 4/4/4 5/5/4 1/1/4 +f 6/6/5 7/7/6 4/4/7 +f 3/3/8 8/8/8 6/6/8 +f 5/5/9 8/8/9 2/2/9 +f 4/4/10 3/3/10 6/6/10 +f 1/1/1 5/5/11 2/2/2 +f 4/4/4 7/7/4 5/5/4 +f 6/6/5 8/8/12 7/7/6 +f 3/3/8 2/2/8 8/8/8 +f 5/5/9 7/7/9 8/8/9 +f 4/4/10 1/1/10 3/3/10 +o edge_2_Cube +v 0.590083 0.580000 0.250354 +v 0.409917 0.420060 0.009390 +v 0.573309 0.580000 0.261247 +v 0.590083 -0.580000 0.250354 +v 0.426691 0.420060 -0.001503 +v 0.573309 -0.580000 0.261247 +v 0.426691 -0.419158 -0.002053 +v 0.409917 -0.419158 0.008840 +vt 0.9410 0.8520 +vt 0.7523 0.8566 +vt 0.9234 0.8524 +vt 0.8896 0.1426 +vt 0.7698 0.8562 +vt 0.8721 0.1430 +vt 0.7185 0.1468 +vt 0.7009 0.1472 +vn -0.2561 0.8826 -0.3943 +vn 0.8394 0.0003 -0.5435 +vn 0.8390 0.0001 -0.5441 +vn 0.8389 0.0000 -0.5442 +vn -0.2569 -0.8818 -0.3956 +vn -0.8390 -0.0003 0.5441 +vn -0.8394 -0.0001 0.5436 +vn -0.8395 -0.0000 0.5434 +vn -0.5446 0.0005 -0.8387 +vn 0.5446 -0.0000 0.8387 +vn 0.8396 0.0004 -0.5433 +vn -0.8388 -0.0004 0.5444 +usemtl None +s 1 +f 9/9/13 10/10/13 11/11/13 +f 12/12/14 13/13/15 9/9/16 +f 14/14/17 15/15/17 12/12/17 +f 11/11/18 16/16/19 14/14/20 +f 13/13/21 16/16/21 10/10/21 +f 12/12/22 11/11/22 14/14/22 +f 9/9/13 13/13/13 10/10/13 +f 12/12/14 15/15/23 13/13/15 +f 14/14/17 16/16/17 15/15/17 +f 11/11/18 10/10/24 16/16/19 +f 13/13/21 15/15/21 16/16/21 +f 12/12/22 9/9/22 11/11/22 +o edge_3_Cube.002 +v 0.580000 -0.573309 0.261247 +v -0.419400 -0.409917 0.008678 +v -0.580000 -0.573309 0.261247 +v 0.580000 -0.590083 0.250354 +v 0.419883 -0.409917 0.009162 +v -0.580000 -0.590083 0.250354 +v 0.419883 -0.426691 -0.001731 +v -0.419400 -0.426691 -0.002215 +vt 0.8690 0.1040 +vt 0.1365 0.1739 +vt 0.0188 0.1040 +vt 0.8690 0.0968 +vt 0.7517 0.1739 +vt 0.0188 0.0968 +vt 0.7517 0.1668 +vt 0.1365 0.1668 +vn -0.0002 0.8392 0.5438 +vn -0.0000 0.8395 0.5433 +vn -0.0000 0.8396 0.5432 +vn 0.8825 0.2562 -0.3945 +vn 0.0002 -0.8396 -0.5433 +vn 0.0000 -0.8392 -0.5438 +vn 0.0000 -0.8391 -0.5439 +vn -0.8821 0.2565 -0.3950 +vn 0.0005 0.5446 -0.8387 +vn 0.0000 -0.5446 0.8387 +vn -0.0003 0.8391 0.5440 +vn 0.0003 -0.8397 -0.5430 +usemtl None +s 1 +f 17/17/25 18/18/26 19/19/27 +f 20/20/28 21/21/28 17/17/28 +f 22/22/29 23/23/30 20/20/31 +f 19/19/32 24/24/32 22/22/32 +f 21/21/33 24/24/33 18/18/33 +f 20/20/34 19/19/34 22/22/34 +f 17/17/25 21/21/35 18/18/26 +f 20/20/28 23/23/28 21/21/28 +f 22/22/29 24/24/36 23/23/30 +f 19/19/32 18/18/32 24/24/32 +f 21/21/33 23/23/33 24/24/33 +f 20/20/34 17/17/34 19/19/34 +o edge_5_Cube.005 +v -0.153309 0.580000 0.261247 +v -0.006691 0.419400 -0.002214 +v -0.170083 0.580000 0.250354 +v -0.153309 -0.580000 0.261247 +v 0.010083 0.419400 0.008679 +v -0.170083 -0.580000 0.250354 +v 0.010083 -0.419883 0.009732 +v -0.006691 -0.419883 -0.001161 +vt 0.0506 0.8517 +vt 0.1935 0.8492 +vt 0.0342 0.8520 +vt 0.0164 0.1914 +vt 0.2099 0.8489 +vt 0.0001 0.1917 +vt 0.1757 0.1886 +vt 0.1594 0.1889 +vn 0.2565 0.8821 -0.3950 +vn 0.8387 0.0005 0.5446 +vn 0.8394 0.0001 0.5434 +vn 0.8396 0.0000 0.5432 +vn 0.2565 -0.8822 -0.3950 +vn -0.8395 -0.0005 -0.5434 +vn -0.8388 -0.0001 -0.5445 +vn -0.8386 -0.0000 -0.5448 +vn 0.5446 -0.0011 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8384 0.0007 0.5451 +vn -0.8398 -0.0007 -0.5429 +usemtl None +s 1 +f 25/25/37 26/26/37 27/27/37 +f 28/28/38 29/29/39 25/25/40 +f 30/30/41 31/31/41 28/28/41 +f 27/27/42 32/32/43 30/30/44 +f 29/29/45 32/32/45 26/26/45 +f 28/28/46 27/27/46 30/30/46 +f 25/25/37 29/29/37 26/26/37 +f 28/28/38 31/31/47 29/29/39 +f 30/30/41 32/32/41 31/31/41 +f 27/27/42 26/26/48 32/32/43 +f 29/29/45 31/31/45 32/32/45 +f 28/28/46 25/25/46 27/27/46 +o edge_4_Cube.001 +v -0.573309 0.580000 0.261247 +v -0.426691 0.419400 -0.002214 +v -0.590083 0.580000 0.250354 +v -0.573309 -0.580000 0.261247 +v -0.409917 0.419400 0.008679 +v -0.590083 -0.580000 0.250354 +v -0.409917 -0.419400 0.009162 +v -0.426691 -0.419400 -0.001731 +vt 0.9046 0.2397 +vt 0.7929 0.2434 +vt 0.9174 0.2393 +vt 0.9537 0.7559 +vt 0.7801 0.2438 +vt 0.9664 0.7554 +vt 0.8291 0.7599 +vt 0.8419 0.7595 +vn 0.2565 0.8821 -0.3950 +vn 0.8392 0.0002 0.5438 +vn 0.8395 0.0000 0.5433 +vn 0.8396 0.0000 0.5432 +vn 0.2568 -0.8819 -0.3954 +vn -0.8396 -0.0002 -0.5433 +vn -0.8392 -0.0000 -0.5438 +vn -0.8391 -0.0000 -0.5439 +vn 0.5446 -0.0005 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8391 0.0003 0.5440 +vn -0.8397 -0.0003 -0.5430 +usemtl None +s 1 +f 33/33/49 34/34/49 35/35/49 +f 36/36/50 37/37/51 33/33/52 +f 38/38/53 39/39/53 36/36/53 +f 35/35/54 40/40/55 38/38/56 +f 37/37/57 40/40/57 34/34/57 +f 36/36/58 35/35/58 38/38/58 +f 33/33/49 37/37/49 34/34/49 +f 36/36/50 39/39/59 37/37/51 +f 38/38/53 40/40/53 39/39/53 +f 35/35/54 34/34/60 40/40/55 +f 37/37/57 39/39/57 40/40/57 +f 36/36/58 33/33/58 35/35/58 +o base_Cube.004 +v 0.420000 0.420000 0.010000 +v -0.420000 0.420000 -0.010000 +v -0.420000 0.420000 0.010000 +v 0.420000 -0.420000 0.010000 +v 0.420000 0.420000 -0.010000 +v -0.420000 -0.420000 0.010000 +v 0.420000 -0.420000 -0.010000 +v -0.420000 -0.420000 -0.010000 +vt 0.7524 0.8072 +vt -0.3038 0.8371 +vt -0.3038 0.8371 +vt 0.7012 0.1905 +vt 0.7524 0.8072 +vt -0.3550 0.2204 +vt 0.7012 0.1905 +vt -0.3550 0.2204 +vn -0.0000 1.0000 0.0000 +vn 1.0000 0.0000 0.0000 +vn 0.0000 -1.0000 0.0000 +vn -1.0000 -0.0000 0.0000 +vn -0.0000 0.0000 -1.0000 +vn 0.0000 -0.0000 1.0000 +usemtl None +s 1 +f 41/41/61 42/42/61 43/43/61 +f 44/44/62 45/45/62 41/41/62 +f 46/46/63 47/47/63 44/44/63 +f 43/43/64 48/48/64 46/46/64 +f 45/45/65 48/48/65 42/42/65 +f 44/44/66 43/43/66 46/46/66 +f 41/41/61 45/45/61 42/42/61 +f 44/44/62 47/47/62 45/45/62 +f 46/46/63 48/48/63 47/47/63 +f 43/43/64 42/42/64 48/48/64 +f 45/45/65 47/47/65 48/48/65 +f 44/44/66 41/41/66 43/43/66 diff --git a/data/tray/tray_textured2.urdf b/data/tray/tray_textured2.urdf new file mode 100644 index 000000000..8b89b015c --- /dev/null +++ b/data/tray/tray_textured2.urdf @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index d0a3dca38..33b178dd7 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -43,11 +43,12 @@ bool gCloseToKuka=false; bool gEnableRealTimeSimVR=false; bool gCreateDefaultRobotAssets = false; int gInternalSimFlags = 0; +bool gResetSimulation = 0; int gHuskyId = -1; btTransform huskyTr = btTransform::getIdentity(); int gCreateObjectSimVR = -1; -int gEnableKukaControl = 0; +int gEnableKukaControl = 1; btScalar simTimeScalingFactor = 1; btScalar gRhsClamp = 1.f; @@ -718,6 +719,19 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() } +void PhysicsServerCommandProcessor::deleteCachedInverseKinematicsBodies() +{ + for (int i = 0; i < m_data->m_inverseKinematicsHelpers.size(); i++) + { + IKTrajectoryHelper** ikHelperPtr = m_data->m_inverseKinematicsHelpers.getAtIndex(i); + if (ikHelperPtr) + { + IKTrajectoryHelper* ikHelper = *ikHelperPtr; + delete ikHelper; + } + } + m_data->m_inverseKinematicsHelpers.clear(); +} void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies() { for (int i = 0; i < m_data->m_inverseDynamicsBodies.size(); i++) @@ -736,7 +750,7 @@ void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies() void PhysicsServerCommandProcessor::deleteDynamicsWorld() { deleteCachedInverseDynamicsBodies(); - + deleteCachedInverseKinematicsBodies(); for (int i=0;im_multiBodyJointFeedbacks.size();i++) { @@ -2429,29 +2443,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm case CMD_RESET_SIMULATION: { - //clean up all data - deleteCachedInverseDynamicsBodies(); - - if (m_data && m_data->m_guiHelper) - { - m_data->m_guiHelper->removeAllGraphicsInstances(); - } - if (m_data) - { - m_data->m_visualConverter.resetAll(); - } - - deleteDynamicsWorld(); - createEmptyDynamicsWorld(); - - m_data->exitHandles(); - m_data->initHandles(); + + resetSimulation(); SharedMemoryStatus& serverCmd =serverStatusOut; serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED; hasStatus = true; - m_data->m_hasGround = false; - m_data->m_gripperRigidbodyFixed = 0; break; } case CMD_CREATE_RIGID_BODY: @@ -3940,6 +3937,12 @@ double gDtInSec = 0.f; double gSubStep = 0.f; void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) { + if (gResetSimulation) + { + resetSimulation(); + gResetSimulation = false; + } + if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper) { @@ -3997,7 +4000,30 @@ void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId) } } +void PhysicsServerCommandProcessor::resetSimulation() +{ + //clean up all data + deleteCachedInverseDynamicsBodies(); + if (m_data && m_data->m_guiHelper) + { + m_data->m_guiHelper->removeAllGraphicsInstances(); + } + if (m_data) + { + m_data->m_visualConverter.resetAll(); + } + + deleteDynamicsWorld(); + createEmptyDynamicsWorld(); + + m_data->exitHandles(); + m_data->initHandles(); + + m_data->m_hasGround = false; + m_data->m_gripperRigidbodyFixed = 0; + +} //todo: move this to Python/scripting void PhysicsServerCommandProcessor::createDefaultRobotAssets() { @@ -4141,7 +4167,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() btTransform objectLocalTr[] = { btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.0, 0.0)), - btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.15, 0.64)), + btTransform(btQuaternion(btVector3(0,0,1),-SIMD_HALF_PI), btVector3(0.0, 0.15, 0.64)), btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.1, 0.15, 0.85)), btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.4, 0.05, 0.85)), btTransform(btQuaternion(0, 0, 0, 1), btVector3(-0.3, -0.05, 0.7)), @@ -4168,7 +4194,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() // Table area loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); - loadUrdf("tray.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index e271cdff6..dc7992980 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -23,6 +23,8 @@ class PhysicsServerCommandProcessor : public PhysicsCommandProcessorInterface //todo: move this to physics client side / Python void createDefaultRobotAssets(); + void resetSimulation(); + protected: @@ -37,6 +39,7 @@ protected: int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes); void deleteCachedInverseDynamicsBodies(); + void deleteCachedInverseKinematicsBodies(); public: PhysicsServerCommandProcessor(); diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index aff18b0f8..e5b4cc3e4 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -39,6 +39,7 @@ extern bool gEnableRealTimeSimVR; extern bool gCreateDefaultRobotAssets; extern int gInternalSimFlags; extern int gCreateObjectSimVR; +extern bool gResetSimulation; extern int gEnableKukaControl; int gGraspingController = -1; extern btScalar simTimeScalingFactor; @@ -273,7 +274,7 @@ void MotionThreadFunc(void* userPtr,void* lsMemory) args->m_physicsServerPtr->removePickingConstraint(); } - if (!gEnableKukaControl) +// if (!gEnableKukaControl) { if (args->m_isVrControllerPicking[c]) { @@ -1670,7 +1671,8 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt { if (button == 1 && state == 0) { -// gVRTeleportPos = gLastPickPos; + gResetSimulation = true; + //gVRTeleportPos1 = gLastPickPos; } } else { @@ -1682,7 +1684,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt } else { gDebugRenderToggle = 0; - +#if 0//it confuses people, make it into a debug option in a VR GUI? if (simTimeScalingFactor==0) { simTimeScalingFactor = 1; @@ -1697,6 +1699,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt simTimeScalingFactor = 0; } } +#endif } } else { @@ -1714,7 +1717,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt } else { - gEnableKukaControl = !gEnableKukaControl; +// gEnableKukaControl = !gEnableKukaControl; } } From 15cda751307424c522a805461f14b31f80b61976 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Wed, 30 Nov 2016 22:24:20 -0800 Subject: [PATCH 077/102] add in settings of URDF/SDF allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF. enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld. allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API. process contact parameters in URDF also for btRigidBody (friction, restitution etc) add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc. --- .../Importers/ImportURDFDemo/URDF2Bullet.cpp | 52 ++++-- .../Importers/ImportURDFDemo/URDFJointTypes.h | 3 + .../Importers/ImportURDFDemo/UrdfParser.cpp | 25 +++ examples/SharedMemory/PhysicsClientC_API.cpp | 20 +++ examples/SharedMemory/PhysicsClientC_API.h | 3 + .../PhysicsServerCommandProcessor.cpp | 122 +++++++++++--- examples/SharedMemory/SharedMemoryCommands.h | 6 +- examples/pybullet/pybullet.c | 157 ++++++++++++++++-- .../Featherstone/btMultiBodyConstraint.cpp | 14 +- .../btMultiBodyConstraintSolver.cpp | 7 +- .../Featherstone/btMultiBodyDynamicsWorld.cpp | 2 +- 11 files changed, 354 insertions(+), 57 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp index d9e58ef5a..7c0f2c86a 100644 --- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp +++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp @@ -143,6 +143,34 @@ void InitURDF2BulletCache(const URDFImporterInterface& u2b, URDF2BulletCachedDat } +void processContactParameters(const URDFLinkContactInfo& contactInfo, btCollisionObject* col) +{ + if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION) != 0) + { + col->setFriction(contactInfo.m_lateralFriction); + } + if ((contactInfo.m_flags & URDF_CONTACT_HAS_RESTITUTION) != 0) + { + col->setRestitution(contactInfo.m_restitution); + } + + if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION) != 0) + { + col->setRollingFriction(contactInfo.m_rollingFriction); + } + if ((contactInfo.m_flags & URDF_CONTACT_HAS_SPINNING_FRICTION) != 0) + { + col->setSpinningFriction(contactInfo.m_spinningFriction); + } + if ((contactInfo.m_flags & URDF_CONTACT_HAS_STIFFNESS_DAMPING) != 0) + { + col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness, contactInfo.m_contactDamping); + } +} + + + + void ConvertURDF2BulletInternal( const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, URDF2BulletCachedData& cache, int urdfLinkIndex, @@ -258,11 +286,18 @@ void ConvertURDF2BulletInternal( world1->addRigidBody(body); + compoundShape->setUserIndex(graphicsIndex); + URDFLinkContactInfo contactInfo; + u2b.getLinkContactInfo(urdfLinkIndex, contactInfo); + + processContactParameters(contactInfo, body); creation.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex); cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame); + + //untested: u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,body); } else { @@ -413,22 +448,7 @@ void ConvertURDF2BulletInternal( URDFLinkContactInfo contactInfo; u2b.getLinkContactInfo(urdfLinkIndex,contactInfo); - if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION)!=0) - { - col->setFriction(contactInfo.m_lateralFriction); - } - if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION)!=0) - { - col->setRollingFriction(contactInfo.m_rollingFriction); - } - if ((contactInfo.m_flags & URDF_CONTACT_HAS_SPINNING_FRICTION)!=0) - { - col->setSpinningFriction(contactInfo.m_spinningFriction); - } - if ((contactInfo.m_flags & URDF_CONTACT_HAS_STIFFNESS_DAMPING)!=0) - { - col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness,contactInfo.m_contactDamping); - } + processContactParameters(contactInfo, col); if (mbLinkIndex>=0) //???? double-check +/- 1 { diff --git a/examples/Importers/ImportURDFDemo/URDFJointTypes.h b/examples/Importers/ImportURDFDemo/URDFJointTypes.h index 88912cb1a..2bcb53214 100644 --- a/examples/Importers/ImportURDFDemo/URDFJointTypes.h +++ b/examples/Importers/ImportURDFDemo/URDFJointTypes.h @@ -22,6 +22,7 @@ enum URDF_LinkContactFlags URDF_CONTACT_HAS_STIFFNESS_DAMPING=16, URDF_CONTACT_HAS_ROLLING_FRICTION=32, URDF_CONTACT_HAS_SPINNING_FRICTION=64, + URDF_CONTACT_HAS_RESTITUTION=128, }; @@ -30,6 +31,7 @@ struct URDFLinkContactInfo btScalar m_lateralFriction; btScalar m_rollingFriction; btScalar m_spinningFriction; + btScalar m_restitution; btScalar m_inertiaScaling; btScalar m_contactCfm; btScalar m_contactErp; @@ -42,6 +44,7 @@ struct URDFLinkContactInfo :m_lateralFriction(0.5), m_rollingFriction(0), m_spinningFriction(0), + m_restitution(0), m_inertiaScaling(1), m_contactCfm(0), m_contactErp(0), diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp index 817cb0ce5..bcac5eec7 100644 --- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp +++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp @@ -672,6 +672,31 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi } } } + + { + TiXmlElement *restitution_xml = ci->FirstChildElement("restitution"); + if (restitution_xml) + { + if (m_parseSDF) + { + link.m_contactInfo.m_restitution = urdfLexicalCast(restitution_xml->GetText()); + link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION; + } + else + { + if (!restitution_xml->Attribute("value")) + { + logger->reportError("Link/contact: restitution element must have value attribute"); + return false; + } + + link.m_contactInfo.m_restitution = urdfLexicalCast(restitution_xml->Attribute("value")); + link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION; + + } + } + } + { TiXmlElement *spinning_xml = ci->FirstChildElement("spinning_friction"); if (spinning_xml) diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 6b3e97ae3..12bf1ce90 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -317,6 +317,26 @@ int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHan return 0; } +int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS); + + command->m_physSimParamArgs.m_useSplitImpulse = useSplitImpulse; + command->m_updateFlags |= SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE; + return 0; +} + +int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS); + + command->m_physSimParamArgs.m_splitImpulsePenetrationThreshold = splitImpulsePenetrationThreshold; + command->m_updateFlags |= SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD; + return 0; +} + int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index 4ee0e394d..e32c55b87 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -163,6 +163,9 @@ int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps); int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation); int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations); +int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse); +int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold); + //b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes //Use at own risk: magic things may or my not happen when calling this API diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 5ffc08e1a..2872da72b 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -2338,6 +2338,17 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations; } + + if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE) + { + m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse = clientCmd.m_physSimParamArgs.m_useSplitImpulse; + } + if (clientCmd.m_updateFlags &SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD) + { + m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold = clientCmd.m_physSimParamArgs.m_splitImpulsePenetrationThreshold; + } + + if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS) { m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps; @@ -2363,27 +2374,50 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId; InteralBodyData* body = m_data->getHandle(bodyUniqueId); + btVector3 baseLinVel(0, 0, 0); + btVector3 baseAngVel(0, 0, 0); + + if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY) + { + baseLinVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[0], + clientCmd.m_initPoseArgs.m_initialStateQdot[1], + clientCmd.m_initPoseArgs.m_initialStateQdot[2]); + } + if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY) + { + baseAngVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[3], + clientCmd.m_initPoseArgs.m_initialStateQdot[4], + clientCmd.m_initPoseArgs.m_initialStateQdot[5]); + } + btVector3 basePos(0, 0, 0); + if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION) + { + basePos = btVector3( + clientCmd.m_initPoseArgs.m_initialStateQ[0], + clientCmd.m_initPoseArgs.m_initialStateQ[1], + clientCmd.m_initPoseArgs.m_initialStateQ[2]); + } + btQuaternion baseOrn(0, 0, 0, 1); + if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION) + { + baseOrn.setValue(clientCmd.m_initPoseArgs.m_initialStateQ[3], + clientCmd.m_initPoseArgs.m_initialStateQ[4], + clientCmd.m_initPoseArgs.m_initialStateQ[5], + clientCmd.m_initPoseArgs.m_initialStateQ[6]); + } if (body && body->m_multiBody) { btMultiBody* mb = body->m_multiBody; - btVector3 baseLinVel(0, 0, 0); - btVector3 baseAngVel(0, 0, 0); + if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY) { - baseLinVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[0], - clientCmd.m_initPoseArgs.m_initialStateQdot[1], - clientCmd.m_initPoseArgs.m_initialStateQdot[2]); mb->setBaseVel(baseLinVel); - } if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY) { - baseAngVel.setValue(clientCmd.m_initPoseArgs.m_initialStateQdot[3], - clientCmd.m_initPoseArgs.m_initialStateQdot[4], - clientCmd.m_initPoseArgs.m_initialStateQdot[5]); mb->setBaseOmega(baseAngVel); } @@ -2396,10 +2430,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm clientCmd.m_initPoseArgs.m_hasInitialStateQ[2]); mb->setBaseVel(baseLinVel); - mb->setBasePos(btVector3( - clientCmd.m_initPoseArgs.m_initialStateQ[0], - clientCmd.m_initPoseArgs.m_initialStateQ[1], - clientCmd.m_initPoseArgs.m_initialStateQ[2])); + mb->setBasePos(basePos); } if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION) { @@ -2409,10 +2440,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm clientCmd.m_initPoseArgs.m_hasInitialStateQ[6]); mb->setBaseOmega(baseAngVel); - btQuaternion invOrn(clientCmd.m_initPoseArgs.m_initialStateQ[3], - clientCmd.m_initPoseArgs.m_initialStateQ[4], - clientCmd.m_initPoseArgs.m_initialStateQ[5], - clientCmd.m_initPoseArgs.m_initialStateQ[6]); + btQuaternion invOrn(baseOrn); mb->setWorldToBaseRot(invOrn.inverse()); } @@ -2441,6 +2469,31 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm mb->updateCollisionObjectWorldTransforms(scratch_q,scratch_m); + } + + if (body && body->m_rigidBody) + { + if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_LINEAR_VELOCITY) + { + body->m_rigidBody->setLinearVelocity(baseLinVel); + } + if (clientCmd.m_updateFlags & INIT_POSE_HAS_BASE_ANGULAR_VELOCITY) + { + body->m_rigidBody->setAngularVelocity(baseAngVel); + } + + if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_POSITION) + { + body->m_rigidBody->getWorldTransform().setOrigin(basePos); + body->m_rigidBody->setLinearVelocity(baseLinVel); + } + + if (clientCmd.m_updateFlags & INIT_POSE_HAS_INITIAL_ORIENTATION) + { + body->m_rigidBody->getWorldTransform().setRotation(baseOrn); + body->m_rigidBody->setAngularVelocity(baseAngVel); + } + } SharedMemoryStatus& serverCmd =serverStatusOut; @@ -3114,11 +3167,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i) { InteralBodyData* body = m_data->getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]); + bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0); + if (body && body->m_multiBody) { btMultiBody* mb = body->m_multiBody; - bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME)!=0); - + if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE)!=0) { btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i*3+0], @@ -3166,6 +3220,36 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm } } } + + if (body && body->m_rigidBody) + { + btRigidBody* rb = body->m_rigidBody; + if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_FORCE) != 0) + { + btVector3 forceLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0], + clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1], + clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]); + btVector3 positionLocal( + clientCmd.m_externalForceArguments.m_positions[i * 3 + 0], + clientCmd.m_externalForceArguments.m_positions[i * 3 + 1], + clientCmd.m_externalForceArguments.m_positions[i * 3 + 2]); + + btVector3 forceWorld = isLinkFrame ? forceLocal : rb->getWorldTransform().getBasis()*forceLocal; + btVector3 relPosWorld = isLinkFrame ? positionLocal : rb->getWorldTransform().getBasis()*positionLocal; + rb->applyForce(forceWorld, relPosWorld); + + } + + if ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_TORQUE) != 0) + { + btVector3 torqueLocal(clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 0], + clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 1], + clientCmd.m_externalForceArguments.m_forcesAndTorques[i * 3 + 2]); + + btVector3 torqueWorld = isLinkFrame ? torqueLocal : rb->getWorldTransform().getBasis()*torqueLocal; + rb->applyTorque(torqueWorld); + } + } } SharedMemoryStatus& serverCmd =serverStatusOut; diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index c360a5511..fd1c4d94a 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -287,7 +287,9 @@ enum EnumSimParamUpdateFlags SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8, SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16, SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32, - SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64 + SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64, + SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE=128, + SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256, }; enum EnumLoadBunnyUpdateFlags @@ -312,6 +314,8 @@ struct SendPhysicsSimulationParameters int m_numSimulationSubSteps; int m_numSolverIterations; bool m_allowRealTimeSimulation; + int m_useSplitImpulse; + double m_splitImpulsePenetrationThreshold; int m_internalSimFlags; double m_defaultContactERP; }; diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 9ed3bdd60..58dc2127e 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -419,6 +419,62 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args) return Py_None; } +static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject *keywds) +{ + double fixedTimeStep = -1; + int numSolverIterations = -1; + int useSplitImpulse = -1; + double splitImpulsePenetrationThreshold = -1; + + if (0 == sm) { + PyErr_SetString(SpamError, "Not connected to physics server."); + return NULL; + } + + static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", NULL }; + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diid", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold)) + { + return NULL; + } + { + b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(sm); + b3SharedMemoryStatusHandle statusHandle; + + if (numSolverIterations >= 0) + { + b3PhysicsParamSetNumSolverIterations(command, numSolverIterations); + } + if (fixedTimeStep >= 0) + { + b3PhysicsParamSetTimeStep(command, fixedTimeStep); + } + if (useSplitImpulse >= 0) + { + b3PhysicsParamSetUseSplitImpulse(command,useSplitImpulse); + } + if (splitImpulsePenetrationThreshold >= 0) + { + b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, splitImpulsePenetrationThreshold); + } + + //ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation); + + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); + } +#if 0 + b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient); + int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx, double gravy, double gravz); + int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep); + int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP); + int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps); + int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation); + int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations); +#endif + + Py_INCREF(Py_None); + return Py_None; +} // Load a robot from a URDF file (universal robot description format) @@ -426,8 +482,14 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args) // to position (0,0,1) with orientation(0,0,0,1) // els(x,y,z) or // loadURDF(pos_x, pos_y, pos_z, orn_x, orn_y, orn_z, orn_w) -static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args) { +static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject *keywds) +{ int size = PySequence_Size(args); + static char *kwlist[] = { "fileName", "basePosition", "baseOrientation", "useMaximalCoordinates","useFixedBase", NULL }; + + static char *kwlistBackwardCompatible4[] = { "startPosX", "startPosY", "startPosZ", NULL }; + static char *kwlistBackwardCompatible8[] = { "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY","startOrnZ","startOrnW", NULL }; + int bodyIndex = -1; const char* urdfFileName = ""; @@ -439,24 +501,79 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args) { double startOrnY = 0.0; double startOrnZ = 0.0; double startOrnW = 1.0; + int useMaximalCoordinates = 0; + int useFixedBase = 0; + + int backwardsCompatibilityArgs = 0; if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } - if (size == 1) { - if (!PyArg_ParseTuple(args, "s", &urdfFileName)) return NULL; + + if (PyArg_ParseTupleAndKeywords(args, keywds, "sddd", kwlistBackwardCompatible4, &urdfFileName, &startPosX, + &startPosY, &startPosZ)) + { + backwardsCompatibilityArgs = 1; } - if (size == 4) { - if (!PyArg_ParseTuple(args, "sddd", &urdfFileName, &startPosX, &startPosY, - &startPosZ)) - return NULL; + else + { + PyErr_Clear(); } - if (size == 8) { - if (!PyArg_ParseTuple(args, "sddddddd", &urdfFileName, &startPosX, - &startPosY, &startPosZ, &startOrnX, &startOrnY, - &startOrnZ, &startOrnW)) - return NULL; + + + if (PyArg_ParseTupleAndKeywords(args, keywds, "sddddddd", kwlistBackwardCompatible8,&urdfFileName, &startPosX, + &startPosY, &startPosZ, &startOrnX, &startOrnY,&startOrnZ, &startOrnW)) + { + backwardsCompatibilityArgs = 1; + } + else + { + PyErr_Clear(); + } + + + + if (!backwardsCompatibilityArgs) + { + PyObject* basePosObj = 0; + PyObject* baseOrnObj = 0; + double basePos[3]; + double baseOrn[4]; + + + if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOii", kwlist, &urdfFileName, &basePosObj, &baseOrnObj, &useMaximalCoordinates,&useFixedBase)) + { + + return NULL; + } + else + { + if (basePosObj) + { + if (!pybullet_internalSetVectord(basePosObj, basePos)) + { + PyErr_SetString(SpamError, "Cannot convert basePosition."); + return NULL; + } + startPosX = basePos[0]; + startPosY = basePos[1]; + startPosZ = basePos[2]; + + } + if (baseOrnObj) + { + if (!pybullet_internalSetVector4d(baseOrnObj, baseOrn)) + { + PyErr_SetString(SpamError, "Cannot convert baseOrientation."); + return NULL; + } + startOrnX = baseOrn[0]; + startOrnY = baseOrn[1]; + startOrnZ = baseOrn[2]; + startOrnW = baseOrn[3]; + } + } } if (strlen(urdfFileName)) { @@ -473,6 +590,15 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args) { b3LoadUrdfCommandSetStartPosition(command, startPosX, startPosY, startPosZ); b3LoadUrdfCommandSetStartOrientation(command, startOrnX, startOrnY, startOrnZ, startOrnW); + if (useMaximalCoordinates) + { + b3LoadUrdfCommandSetUseMultiBody(command, 0); + } + if (useFixedBase) + { + b3LoadUrdfCommandSetUseFixedBase(command, 1); + } + statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusType = b3GetStatusType(statusHandle); if (statusType != CMD_URDF_LOADING_COMPLETED) { @@ -3483,6 +3609,8 @@ static PyMethodDef SpamMethods[] = { "Set the amount of time to proceed at each call to stepSimulation. (unit " "is seconds, typically range is 0.01 or 0.001)"}, + + {"setDefaultContactERP", pybullet_setDefaultContactERP, METH_VARARGS, "Set the amount of contact penetration Error Recovery Paramater " "(ERP) in each time step. \ @@ -3493,10 +3621,13 @@ static PyMethodDef SpamMethods[] = { "Enable or disable real time simulation (using the real time clock," " RTC) in the physics server. Expects one integer argument, 0 or 1" }, + { "setPhysicsEngineParameter", (PyCFunction)pybullet_setPhysicsEngineParameter, METH_VARARGS | METH_KEYWORDS, + "Set some internal physics engine parameter, such as cfm or erp etc." }, + { "setInternalSimFlags", pybullet_setInternalSimFlags, METH_VARARGS, "This is for experimental purposes, use at own risk, magic may or not happen"}, - {"loadURDF", pybullet_loadURDF, METH_VARARGS, + {"loadURDF", (PyCFunction) pybullet_loadURDF, METH_VARARGS | METH_KEYWORDS, "Create a multibody by loading a URDF file."}, {"loadSDF", pybullet_loadSDF, METH_VARARGS, diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp index 01a59890c..d52852dd8 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp @@ -378,7 +378,9 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr btScalar erp = infoGlobal.m_erp2; - if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + + //split impulse is not implemented yet for btMultiBody* + //if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) { erp = infoGlobal.m_erp; } @@ -388,19 +390,23 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr btScalar penetrationImpulse = positionalError*solverConstraint.m_jacDiagABInv; btScalar velocityImpulse = velocityError *solverConstraint.m_jacDiagABInv; - if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + //split impulse is not implemented yet for btMultiBody* + + // if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) { //combine position and velocity into rhs solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; solverConstraint.m_rhsPenetration = 0.f; - } else + } + /*else { //split position and velocity into rhs and m_rhsPenetration solverConstraint.m_rhs = velocityImpulse; solverConstraint.m_rhsPenetration = penetrationImpulse; } - + */ + solverConstraint.m_cfm = 0.f; solverConstraint.m_lowerLimit = lowerLimit; solverConstraint.m_upperLimit = upperLimit; diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp index 29f8e469c..aa0755a10 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp @@ -528,19 +528,20 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol if(!isFriction) { - if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) + // if (!infoGlobal.m_splitImpulse || (penetration > infoGlobal.m_splitImpulsePenetrationThreshold)) { //combine position and velocity into rhs solverConstraint.m_rhs = penetrationImpulse+velocityImpulse; solverConstraint.m_rhsPenetration = 0.f; - } else + } + /*else { //split position and velocity into rhs and m_rhsPenetration solverConstraint.m_rhs = velocityImpulse; solverConstraint.m_rhsPenetration = penetrationImpulse; } - + */ solverConstraint.m_lowerLimit = 0; solverConstraint.m_upperLimit = 1e10f; } diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index d94d1d4ea..4b33cf69d 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -384,7 +384,7 @@ btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBr m_multiBodyConstraintSolver(constraintSolver) { //split impulse is not yet supported for Featherstone hierarchies - getSolverInfo().m_splitImpulse = false; +// getSolverInfo().m_splitImpulse = false; getSolverInfo().m_solverMode |=SOLVER_USE_2_FRICTION_DIRECTIONS; m_solverMultiBodyIslandCallback = new MultiBodyInplaceSolverIslandCallback(constraintSolver,dispatcher); } From e20c487e52a3dc5571c2b7d65e10adb69cebdff5 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 1 Dec 2016 09:51:28 -0800 Subject: [PATCH 078/102] fix backward compatibility issue with pybullet:loadURDF --- examples/pybullet/pybullet.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 58dc2127e..a3da3e942 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -487,8 +487,8 @@ static PyObject* pybullet_loadURDF(PyObject* self, PyObject* args, PyObject *key int size = PySequence_Size(args); static char *kwlist[] = { "fileName", "basePosition", "baseOrientation", "useMaximalCoordinates","useFixedBase", NULL }; - static char *kwlistBackwardCompatible4[] = { "startPosX", "startPosY", "startPosZ", NULL }; - static char *kwlistBackwardCompatible8[] = { "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY","startOrnZ","startOrnW", NULL }; + static char *kwlistBackwardCompatible4[] = { "fileName", "startPosX", "startPosY", "startPosZ", NULL }; + static char *kwlistBackwardCompatible8[] = { "fileName", "startPosX", "startPosY", "startPosZ", "startOrnX", "startOrnY","startOrnZ","startOrnW", NULL }; int bodyIndex = -1; From a88272de1b755a4449877e53c83312729224a755 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Thu, 1 Dec 2016 16:47:11 -0800 Subject: [PATCH 079/102] Restore the old constructor for TinyRenderObjectData for backward compatibility. --- .../RenderingExamples/TinyRendererSetup.cpp | 2 +- .../TinyRendererVisualShapeConverter.cpp | 2 +- examples/TinyRenderer/TinyRenderer.cpp | 60 +++++++++++++++---- examples/TinyRenderer/TinyRenderer.h | 10 ++-- 4 files changed, 56 insertions(+), 18 deletions(-) diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index e8cf9f255..7880a1f8c 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -190,7 +190,7 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui) TinyRenderObjectData* ob = new TinyRenderObjectData( m_internalData->m_rgbColorBuffer, m_internalData->m_depthBuffer, - m_internalData->m_shadowBuffer, + &m_internalData->m_shadowBuffer, &m_internalData->m_segmentationMaskBuffer, m_internalData->m_renderObjects.size()); diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index dc5d7a561..0182f8c18 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -568,7 +568,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const if (vertices.size() && indices.size()) { - TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId); + TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId); unsigned char* textureImage=0; int textureWidth=0; int textureHeight=0; diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 2f346fcdb..a2bcea5d4 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -74,7 +74,7 @@ struct Shader : public IShader { Vec4f m_colorRGBA; Matrix& m_viewportMat; - b3AlignedObjectArray& m_shadowBuffer; + b3AlignedObjectArray* m_shadowBuffer; int m_width; int m_height; @@ -86,7 +86,7 @@ struct Shader : public IShader { mat<4,3,float> varying_tri_light_view; mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray& shadowBuffer) + Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray* shadowBuffer) :m_model(model), m_light_dir_local(light_dir_local), m_light_color(light_color), @@ -126,7 +126,7 @@ struct Shader : public IShader { int index_x = b3Max(0, b3Min(m_width-1, int(p[0]))); int index_y = b3Max(0, b3Min(m_height-1, int(p[1]))); int idx = index_x + index_y*m_width; // index in the shadowbuffer array - float shadow = 0.8+0.2*(m_shadowBuffer[idx]<-depth+0.2); // magic coeff to avoid z-fighting + float shadow = 0.8+0.2*(m_shadowBuffer->at(idx)<-depth+0.2); // magic coeff to avoid z-fighting Vec3f bn = (varying_nrm*bar).normalize(); Vec2f uv = varying_uv*bar; @@ -158,7 +158,7 @@ struct Shader : public IShader { } }; -TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray&shadowBuffer) +TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray* shadowBuffer) :m_rgbColorBuffer(rgbColorBuffer), m_depthBuffer(depthBuffer), m_shadowBuffer(shadowBuffer), @@ -167,6 +167,45 @@ m_model(0), m_userData(0), m_userIndex(-1), m_objectIndex(-1) +{ + Vec3f eye(1,1,3); + Vec3f center(0,0,0); + Vec3f up(0,0,1); + m_lightDirWorld.setValue(0,0,0); + m_lightColor.setValue(1, 1, 1); + m_localScaling.setValue(1,1,1); + m_modelMatrix = Matrix::identity(); + +} + +TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer, b3AlignedObjectArray* shadowBuffer, b3AlignedObjectArray* segmentationMaskBuffer, int objectIndex) +:m_rgbColorBuffer(rgbColorBuffer), +m_depthBuffer(depthBuffer), +m_shadowBuffer(shadowBuffer), +m_segmentationMaskBufferPtr(segmentationMaskBuffer), +m_model(0), +m_userData(0), +m_userIndex(-1), +m_objectIndex(objectIndex) +{ + Vec3f eye(1,1,3); + Vec3f center(0,0,0); + Vec3f up(0,0,1); + m_lightDirWorld.setValue(0,0,0); + m_lightColor.setValue(1, 1, 1); + m_localScaling.setValue(1,1,1); + m_modelMatrix = Matrix::identity(); + +} + +TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer) +:m_rgbColorBuffer(rgbColorBuffer), +m_depthBuffer(depthBuffer), +m_segmentationMaskBufferPtr(0), +m_model(0), +m_userData(0), +m_userIndex(-1), +m_objectIndex(-1) { Vec3f eye(1,1,3); Vec3f center(0,0,0); @@ -178,12 +217,9 @@ m_objectIndex(-1) } - - -TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer, b3AlignedObjectArray&shadowBuffer, b3AlignedObjectArray* segmentationMaskBuffer, int objectIndex) +TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer, b3AlignedObjectArray* segmentationMaskBuffer, int objectIndex) :m_rgbColorBuffer(rgbColorBuffer), m_depthBuffer(depthBuffer), -m_shadowBuffer(shadowBuffer), m_segmentationMaskBufferPtr(segmentationMaskBuffer), m_model(0), m_userData(0), @@ -341,7 +377,7 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) renderData.m_viewportMatrix = viewport(0,0,width, height); - b3AlignedObjectArray& shadowbuffer = renderData.m_shadowBuffer; + float* shadowBufferPtr = (renderData.m_shadowBuffer && renderData.m_shadowBuffer->size())?&renderData.m_shadowBuffer->at(0):0; int* segmentationMaskBufferPtr = 0; TGAImage depthFrame(width, height, TGAImage::RGB); @@ -360,7 +396,7 @@ void TinyRenderer::renderObjectDepth(TinyRenderObjectData& renderData) for (int j=0; j<3; j++) { shader.vertex(i, j); } - triangle(shader.varying_tri, shader, depthFrame, &shadowbuffer[0], segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); + triangle(shader.varying_tri, shader, depthFrame, shadowBufferPtr, segmentationMaskBufferPtr, renderData.m_viewportMatrix, renderData.m_objectIndex); } } @@ -381,7 +417,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) renderData.m_viewportMatrix = viewport(0,0,width, height); b3AlignedObjectArray& zbuffer = renderData.m_depthBuffer; - b3AlignedObjectArray& shadowbuffer = renderData.m_shadowBuffer; + b3AlignedObjectArray* shadowBufferPtr = renderData.m_shadowBuffer; int* segmentationMaskBufferPtr = (renderData.m_segmentationMaskBufferPtr && renderData.m_segmentationMaskBufferPtr->size())?&renderData.m_segmentationMaskBufferPtr->at(0):0; TGAImage& frame = renderData.m_rgbColorBuffer; @@ -393,7 +429,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowbuffer); + Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr); for (int i=0; infaces(); i++) { diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index d82060382..4b5fc7c5f 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -30,11 +30,13 @@ struct TinyRenderObjectData TGAImage& m_rgbColorBuffer; b3AlignedObjectArray& m_depthBuffer;//required, hence a reference - b3AlignedObjectArray& m_shadowBuffer; + b3AlignedObjectArray* m_shadowBuffer; b3AlignedObjectArray* m_segmentationMaskBufferPtr;//optional, hence a pointer - - TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray&shadowBuffer); - TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray&shadowBuffer, b3AlignedObjectArray* segmentationMaskBuffer,int objectIndex); + + TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer); + TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray* segmentationMaskBuffer,int objectIndex); + TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray* shadowBuffer); + TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer,b3AlignedObjectArray* shadowBuffer, b3AlignedObjectArray* segmentationMaskBuffer,int objectIndex); virtual ~TinyRenderObjectData(); void loadModel(const char* fileName); From 6814e334a252daeda4022dc5b614b9607d5dcbb7 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 1 Dec 2016 17:54:52 -0800 Subject: [PATCH 080/102] expose numSubSteps to pybullet --- examples/pybullet/pybullet.c | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index a3da3e942..5d8844c4b 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -425,15 +425,16 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar int numSolverIterations = -1; int useSplitImpulse = -1; double splitImpulsePenetrationThreshold = -1; + int numSubSteps = -1; if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } - static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", NULL }; + static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold","numSubSteps", NULL }; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diid", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps)) { return NULL; } @@ -457,6 +458,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar { b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, splitImpulsePenetrationThreshold); } + if (numSubSteps>=0) + { + b3PhysicsParamSetNumSubSteps(command,numSubSteps); + } //ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation); From e5aea04e23e29ab3c123fe14483a7bce057069b5 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 2 Dec 2016 13:23:50 -0800 Subject: [PATCH 081/102] add back the 'swapBuffers' in VR demo (slightly lower performance, but easier to use demo. fix issue related to TinyRenderer shadowbuffer API change --- examples/StandaloneMain/hellovr_opengl_main.cpp | 2 +- examples/TinyRenderer/TinyRenderer.h | 2 +- examples/TinyRenderer/main.cpp | 1 - 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp index d196c8ee8..89aa74204 100644 --- a/examples/StandaloneMain/hellovr_opengl_main.cpp +++ b/examples/StandaloneMain/hellovr_opengl_main.cpp @@ -855,7 +855,7 @@ void CMainApplication::RenderFrame() // SwapWindow { B3_PROFILE("m_app->swapBuffer"); -// m_app->swapBuffer(); + m_app->swapBuffer(); //SDL_GL_SwapWindow( m_pWindow ); } diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 4b5fc7c5f..7bc97aa1d 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -30,7 +30,7 @@ struct TinyRenderObjectData TGAImage& m_rgbColorBuffer; b3AlignedObjectArray& m_depthBuffer;//required, hence a reference - b3AlignedObjectArray* m_shadowBuffer; + b3AlignedObjectArray* m_shadowBuffer;//optional, hence a pointer b3AlignedObjectArray* m_segmentationMaskBufferPtr;//optional, hence a pointer TinyRenderObjectData(TGAImage& rgbColorBuffer,b3AlignedObjectArray&depthBuffer); diff --git a/examples/TinyRenderer/main.cpp b/examples/TinyRenderer/main.cpp index 614b12d3a..32f5e7edd 100644 --- a/examples/TinyRenderer/main.cpp +++ b/examples/TinyRenderer/main.cpp @@ -147,7 +147,6 @@ int main(int argc, char* argv[]) renderData.m_rgbColorBuffer.set(x,y,color); renderData.m_depthBuffer[x+y*textureWidth] = -1e30f; - renderData.m_shadowBuffer[x+y*textureWidth] = -1e30f; } } From 383b30a4e40a7fe4da6802732b6fabfb3f6807d4 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 2 Dec 2016 14:10:26 -0800 Subject: [PATCH 082/102] reset also needs to reset iterations etc move from 100 to 50 iterations for VR demo --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 2872da72b..ed8d95856 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -667,8 +667,6 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor() m_data = new PhysicsServerCommandProcessorInternalData(); createEmptyDynamicsWorld(); - m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001; - m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 100; } @@ -717,6 +715,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0)); m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08; + m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001; + m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50; + } void PhysicsServerCommandProcessor::deleteCachedInverseKinematicsBodies() From 61cfa18923f6f1b88bf87703fd2309bd90868a52 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Fri, 2 Dec 2016 17:44:00 -0800 Subject: [PATCH 083/102] save default VR camera tuning, requires MIDI controller tweak some values in VR demo --- .../wsg50_one_motor_gripper_free_base.sdf | 8 +++ .../wsg50_one_motor_gripper_new_free_base.sdf | 8 +++ .../PhysicsServerCommandProcessor.cpp | 40 +++++++++++--- .../SharedMemory/PhysicsServerExample.cpp | 54 ++++++++++++++++--- 4 files changed, 97 insertions(+), 13 deletions(-) diff --git a/data/gripper/wsg50_one_motor_gripper_free_base.sdf b/data/gripper/wsg50_one_motor_gripper_free_base.sdf index 7fc3ed2b2..552c36d28 100644 --- a/data/gripper/wsg50_one_motor_gripper_free_base.sdf +++ b/data/gripper/wsg50_one_motor_gripper_free_base.sdf @@ -303,6 +303,10 @@ + + + + 0.042 0 0.145 0 0 1.5708 0.2 @@ -343,6 +347,10 @@ + + + + -0.042 0 0.145 0 0 4.71239 0.2 diff --git a/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf b/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf index 68e2a0a6e..0358f7a6a 100644 --- a/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf +++ b/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf @@ -300,6 +300,10 @@ + + 1.0 + 1.5 + 0.062 0 0.145 0 0 1.5708 0.2 @@ -340,6 +344,10 @@ + + 1.0 + 1.5 + -0.062 0 0.145 0 0 4.71239 0.2 diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index ed8d95856..2b62a92c7 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -48,7 +48,7 @@ int gHuskyId = -1; btTransform huskyTr = btTransform::getIdentity(); int gCreateObjectSimVR = -1; -int gEnableKukaControl = 1; +int gEnableKukaControl = 0; btScalar simTimeScalingFactor = 1; btScalar gRhsClamp = 1.f; @@ -4016,7 +4016,7 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName) } -btVector3 gVRGripperPos(0,0,0.2); +btVector3 gVRGripperPos(0.6, 0.4, 0.7); btQuaternion gVRGripperOrn(0,0,0,1); btVector3 gVRController2Pos(0,0,0.2); btQuaternion gVRController2Orn(0,0,0,1); @@ -4156,7 +4156,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() { int bodyId = 0; - if (loadUrdf("pr2_gripper.urdf", btVector3(0, 0, 0.1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size())) + if (loadUrdf("pr2_gripper.urdf", btVector3(-0.2, 0.15, 0.9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size())) { InteralBodyData* parentBody = m_data->getHandle(bodyId); if (parentBody->m_multiBody) @@ -4186,6 +4186,30 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() loadUrdf("kuka_iiwa/model_vr_limits.urdf", btVector3(1.4, -0.2, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); m_data->m_KukaId = bodyId; + InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId); + if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs() == 7) + { + btScalar q[7]; + q[0] = 0;// -SIMD_HALF_PI; + q[1] = 0; + q[2] = 0; + q[3] = SIMD_HALF_PI; + q[4] = 0; + q[5] = -SIMD_HALF_PI*0.66; + q[6] = 0; + + for (int i = 0; i < 7; i++) + { + kukaBody->m_multiBody->setJointPos(i, q[i]); + } + btAlignedObjectArray scratch_q; + btAlignedObjectArray scratch_m; + kukaBody->m_multiBody->forwardKinematics(scratch_q, scratch_m); + int nLinks = kukaBody->m_multiBody->getNumLinks(); + scratch_q.resize(nLinks + 1); + scratch_m.resize(nLinks + 1); + kukaBody->m_multiBody->updateCollisionObjectWorldTransforms(scratch_q, scratch_m); + } loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .8), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); @@ -4194,7 +4218,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() // Load one motor gripper for kuka loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true); m_data->m_gripperId = bodyId + 1; - InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId); + InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId); // Reset the default gripper motor maximum torque for damping to 0 @@ -4236,6 +4260,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1); m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2); + kukaBody = m_data->getHandle(m_data->m_KukaId); if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7) { gripperBody->m_multiBody->setHasSelfCollision(0); @@ -4289,7 +4314,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() // Table area loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); - loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); + //loadUrdf("tray/tray_textured.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); //loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size()); @@ -4330,9 +4355,10 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets() if (motor) { btScalar posTarget = (-0.048)*btMin(btScalar(0.75), gVRGripper2Analog) / 0.75; - motor->setPositionTarget(posTarget, .2); + motor->setPositionTarget(posTarget, .8); motor->setVelocityTarget(0.0, .5); - motor->setMaxAppliedImpulse(5.0); + motor->setMaxAppliedImpulse(1.0); + } } diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index e5b4cc3e4..0a909e938 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -27,6 +27,7 @@ //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet! extern btVector3 gLastPickPos; btVector3 gVRTeleportPos1(0,0,0); +btScalar gVRTeleportRotZ = 0; btQuaternion gVRTeleportOrn(0, 0, 0,1); extern btVector3 gVRGripperPos; extern btQuaternion gVRGripperOrn; @@ -46,10 +47,47 @@ extern btScalar simTimeScalingFactor; extern bool gVRGripperClosed; -#if B3_USE_MIDI +const char* startFileNameVR = "0_VRDemoSettings.txt"; #include +//remember the settings (you don't want to re-tune again and again...) +static void saveCurrentSettingsVR() +{ + FILE* f = fopen(startFileNameVR, "w"); + if (f) + { + fprintf(f, "--camPosX= %f\n", gVRTeleportPos1[0]); + fprintf(f, "--camPosY= %f\n", gVRTeleportPos1[1]); + fprintf(f, "--camPosZ= %f\n", gVRTeleportPos1[2]); + fprintf(f, "--camRotZ= %f\n", gVRTeleportRotZ); + fclose(f); + } +}; + +static void loadCurrentSettingsVR(b3CommandLineArgs& args) +{ + int currentEntry = 0; + FILE* f = fopen(startFileNameVR, "r"); + if (f) + { + char oneline[1024]; + char* argv[] = { 0,&oneline[0] }; + + while (fgets(oneline, 1024, f) != NULL) + { + char *pos; + if ((pos = strchr(oneline, '\n')) != NULL) + *pos = '\0'; + args.addArgs(2, argv); + } + fclose(f); + } + +}; +#if B3_USE_MIDI + + static float getParamf(float rangeMin, float rangeMax, int midiVal) { float v = rangeMin + (rangeMax - rangeMin)* (float(midiVal / 127.)); @@ -70,9 +108,10 @@ void midiCallback(double deltatime, std::vector< unsigned char > *message, void { if (message->at(1) == 16) { - float rotZ = getParamf(-3.1415, 3.1415, message->at(2)); - gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), rotZ); - b3Printf("gVRTeleportOrn rotZ = %f\n", rotZ); + gVRTeleportRotZ= getParamf(-3.1415, 3.1415, message->at(2)); + gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ); + saveCurrentSettingsVR(); + b3Printf("gVRTeleportOrn rotZ = %f\n", gVRTeleportRotZ); } if (message->at(1) == 32) @@ -85,6 +124,7 @@ void midiCallback(double deltatime, std::vector< unsigned char > *message, void if (message->at(1) == i) { gVRTeleportPos1[i] = getParamf(-2, 2, message->at(2)); + saveCurrentSettingsVR(); b3Printf("gVRTeleportPos[%d] = %f\n", i,gVRTeleportPos1[i]); } @@ -927,7 +967,7 @@ public: virtual void processCommandLineArgs(int argc, char* argv[]) { b3CommandLineArgs args(argc,argv); - + loadCurrentSettingsVR(args); if (args.GetCmdLineArgument("camPosX", gVRTeleportPos1[0])) { printf("camPosX=%f\n", gVRTeleportPos1[0]); @@ -1665,8 +1705,10 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt return; if (gGraspingController < 0) + { gGraspingController = controllerId; - + gEnableKukaControl = true; + } if (controllerId != gGraspingController) { if (button == 1 && state == 0) From 024ab6725be20887e34e73cf8d7358e29207ee58 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Mon, 5 Dec 2016 11:54:56 -0800 Subject: [PATCH 084/102] expose pybullet.setPhysicsEngineParameter(numSubSteps=int) --- examples/pybullet/pybullet.c | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index a3da3e942..21a4b7051 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -425,15 +425,16 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar int numSolverIterations = -1; int useSplitImpulse = -1; double splitImpulsePenetrationThreshold = -1; + int numSubSteps = -1; if (0 == sm) { PyErr_SetString(SpamError, "Not connected to physics server."); return NULL; } - static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", NULL }; + static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps", NULL }; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diid", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps)) { return NULL; } @@ -445,6 +446,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar { b3PhysicsParamSetNumSolverIterations(command, numSolverIterations); } + if (numSubSteps >= 0) + { + b3PhysicsParamSetNumSubSteps(command, numSubSteps); + } if (fixedTimeStep >= 0) { b3PhysicsParamSetTimeStep(command, fixedTimeStep); From 08b449f1492e6c82d883d9714f33f5c24d50e879 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 6 Dec 2016 13:36:41 -0800 Subject: [PATCH 085/102] Adjust magic number to prevent z-fighting. --- examples/TinyRenderer/TinyRenderer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index a2bcea5d4..d321caccd 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -126,7 +126,7 @@ struct Shader : public IShader { int index_x = b3Max(0, b3Min(m_width-1, int(p[0]))); int index_y = b3Max(0, b3Min(m_height-1, int(p[1]))); int idx = index_x + index_y*m_width; // index in the shadowbuffer array - float shadow = 0.8+0.2*(m_shadowBuffer->at(idx)<-depth+0.2); // magic coeff to avoid z-fighting + float shadow = 0.8+0.2*(m_shadowBuffer->at(idx)<-depth+0.05); // magic coeff to avoid z-fighting Vec3f bn = (varying_nrm*bar).normalize(); Vec2f uv = varying_uv*bar; From c253c750b97b11bd6f3c5154f44098882b70fd06 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 6 Dec 2016 15:21:35 -0800 Subject: [PATCH 086/102] Expose ambient, diffuse and specular coefficient of the light. --- .../RenderingExamples/TinyRendererSetup.cpp | 7 ++- examples/SharedMemory/PhysicsClientC_API.cpp | 27 ++++++++++ examples/SharedMemory/PhysicsClientC_API.h | 3 ++ .../PhysicsServerCommandProcessor.cpp | 15 ++++++ examples/SharedMemory/SharedMemoryCommands.h | 6 +++ .../TinyRendererVisualShapeConverter.cpp | 50 ++++++++++++++++++- .../TinyRendererVisualShapeConverter.h | 3 ++ .../main_sw_tinyrenderer_single_example.cpp | 7 ++- .../main_tinyrenderer_single_example.cpp | 7 ++- examples/TinyRenderer/TinyRenderer.cpp | 30 ++++++++--- examples/TinyRenderer/TinyRenderer.h | 3 ++ 11 files changed, 145 insertions(+), 13 deletions(-) diff --git a/examples/RenderingExamples/TinyRendererSetup.cpp b/examples/RenderingExamples/TinyRendererSetup.cpp index 7880a1f8c..caec7c41a 100644 --- a/examples/RenderingExamples/TinyRendererSetup.cpp +++ b/examples/RenderingExamples/TinyRendererSetup.cpp @@ -376,7 +376,9 @@ void TinyRendererSetup::stepSimulation(float deltaTime) m_internalData->m_renderObjects[o]->m_lightColor = lightColor; m_internalData->m_renderObjects[o]->m_lightDistance = 10.0; - + m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6; + m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35; + m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05; } } TinyRenderer::renderObjectDepth(*m_internalData->m_renderObjects[o]); @@ -415,6 +417,9 @@ void TinyRendererSetup::stepSimulation(float deltaTime) m_internalData->m_renderObjects[o]->m_lightColor = lightColor; m_internalData->m_renderObjects[o]->m_lightDistance = 10.0; + m_internalData->m_renderObjects[o]->m_lightAmbientCoeff = 0.6; + m_internalData->m_renderObjects[o]->m_lightDiffuseCoeff = 0.35; + m_internalData->m_renderObjects[o]->m_lightSpecularCoeff = 0.05; } } diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp index 12bf1ce90..a9d217c3e 100644 --- a/examples/SharedMemory/PhysicsClientC_API.cpp +++ b/examples/SharedMemory/PhysicsClientC_API.cpp @@ -1361,6 +1361,33 @@ void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHan command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE; } +void b3RequestCameraImageSetLightAmbientCoeff(b3SharedMemoryCommandHandle commandHandle, float lightAmbientCoeff) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + command->m_requestPixelDataArguments.m_lightAmbientCoeff = lightAmbientCoeff; + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF; +} + +void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryCommandHandle commandHandle, float lightDiffuseCoeff) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + command->m_requestPixelDataArguments.m_lightDiffuseCoeff = lightDiffuseCoeff; + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF; +} + +void b3RequestCameraImageSetLightSpecularCoeff(b3SharedMemoryCommandHandle commandHandle, float lightSpecularCoeff) +{ + struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; + b3Assert(command); + b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA); + command->m_requestPixelDataArguments.m_lightSpecularCoeff = lightSpecularCoeff; + command->m_updateFlags |= REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF; +} + void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow) { struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle; diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h index e32c55b87..97b6a14a6 100644 --- a/examples/SharedMemory/PhysicsClientC_API.h +++ b/examples/SharedMemory/PhysicsClientC_API.h @@ -105,6 +105,9 @@ void b3RequestCameraImageSetPixelResolution(b3SharedMemoryCommandHandle command, void b3RequestCameraImageSetLightDirection(b3SharedMemoryCommandHandle commandHandle, const float lightDirection[3]); void b3RequestCameraImageSetLightColor(b3SharedMemoryCommandHandle commandHandle, const float lightColor[3]); void b3RequestCameraImageSetLightDistance(b3SharedMemoryCommandHandle commandHandle, float lightDistance); +void b3RequestCameraImageSetLightAmbientCoeff(b3SharedMemoryCommandHandle commandHandle, float lightAmbientCoeff); +void b3RequestCameraImageSetLightDiffuseCoeff(b3SharedMemoryCommandHandle commandHandle, float lightDiffuseCoeff); +void b3RequestCameraImageSetLightSpecularCoeff(b3SharedMemoryCommandHandle commandHandle, float lightSpecularCoeff); void b3RequestCameraImageSetShadow(b3SharedMemoryCommandHandle commandHandle, int hasShadow); void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandle, int renderer); void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData); diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 2872da72b..25c420522 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -1449,6 +1449,21 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm { m_data->m_visualConverter.setShadow(clientCmd.m_requestPixelDataArguments.m_hasShadow); } + + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF) != 0) + { + m_data->m_visualConverter.setLightAmbientCoeff(clientCmd.m_requestPixelDataArguments.m_lightAmbientCoeff); + } + + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF) != 0) + { + m_data->m_visualConverter.setLightDiffuseCoeff(clientCmd.m_requestPixelDataArguments.m_lightDiffuseCoeff); + } + + if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF) != 0) + { + m_data->m_visualConverter.setLightSpecularCoeff(clientCmd.m_requestPixelDataArguments.m_lightSpecularCoeff); + } if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0) { diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h index fd1c4d94a..d905ca980 100644 --- a/examples/SharedMemory/SharedMemoryCommands.h +++ b/examples/SharedMemory/SharedMemoryCommands.h @@ -145,6 +145,9 @@ struct RequestPixelDataArgs float m_lightDirection[3]; float m_lightColor[3]; float m_lightDistance; + float m_lightAmbientCoeff; + float m_lightDiffuseCoeff; + float m_lightSpecularCoeff; int m_hasShadow; }; @@ -156,6 +159,9 @@ enum EnumRequestPixelDataUpdateFlags REQUEST_PIXEL_ARGS_SET_LIGHT_COLOR=8, REQUEST_PIXEL_ARGS_SET_LIGHT_DISTANCE=16, REQUEST_PIXEL_ARGS_SET_SHADOW=32, + REQUEST_PIXEL_ARGS_SET_AMBIENT_COEFF=64, + REQUEST_PIXEL_ARGS_SET_DIFFUSE_COEFF=128, + REQUEST_PIXEL_ARGS_SET_SPECULAR_COEFF=256, //don't exceed (1<<15), because this enum is shared with EnumRenderer in SharedMemoryPublic.h }; diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp index 0182f8c18..830e629e8 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp @@ -79,6 +79,12 @@ struct TinyRendererVisualShapeConverterInternalData bool m_hasLightColor; float m_lightDistance; bool m_hasLightDistance; + float m_lightAmbientCoeff; + bool m_hasLightAmbientCoeff; + float m_lightDiffuseCoeff; + bool m_hasLightDiffuseCoeff; + float m_lightSpecularCoeff; + bool m_hasLightSpecularCoeff; bool m_hasShadow; SimpleCamera m_camera; @@ -142,6 +148,24 @@ void TinyRendererVisualShapeConverter::setShadow(bool hasShadow) m_data->m_hasShadow = hasShadow; } +void TinyRendererVisualShapeConverter::setLightAmbientCoeff(float ambientCoeff) +{ + m_data->m_lightAmbientCoeff = ambientCoeff; + m_data->m_hasLightAmbientCoeff = true; +} + +void TinyRendererVisualShapeConverter::setLightDiffuseCoeff(float diffuseCoeff) +{ + m_data->m_lightDiffuseCoeff = diffuseCoeff; + m_data->m_hasLightDiffuseCoeff = true; +} + +void TinyRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff) +{ + m_data->m_lightSpecularCoeff = specularCoeff; + m_data->m_hasLightSpecularCoeff = true; +} + void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray& verticesOut, btAlignedObjectArray& indicesOut, btAlignedObjectArray& texturesOut, b3VisualShapeData& visualShapeOut) { @@ -738,7 +762,25 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo float lightDistance = 2.0; if (m_data->m_hasLightDistance) { - lightDistance = m_data->m_hasLightDistance; + lightDistance = m_data->m_lightDistance; + } + + float lightAmbientCoeff = 0.6; + if (m_data->m_hasLightAmbientCoeff) + { + lightAmbientCoeff = m_data->m_lightAmbientCoeff; + } + + float lightDiffuseCoeff = 0.35; + if (m_data->m_hasLightDiffuseCoeff) + { + lightDiffuseCoeff = m_data->m_lightDiffuseCoeff; + } + + float lightSpecularCoeff = 0.05; + if (m_data->m_hasLightSpecularCoeff) + { + lightSpecularCoeff = m_data->m_lightSpecularCoeff; } if (m_data->m_hasShadow) @@ -779,6 +821,9 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_lightDirWorld = lightDirWorld; renderObj->m_lightColor = lightColor; renderObj->m_lightDistance = lightDistance; + renderObj->m_lightAmbientCoeff = lightAmbientCoeff; + renderObj->m_lightDiffuseCoeff = lightDiffuseCoeff; + renderObj->m_lightSpecularCoeff = lightSpecularCoeff; TinyRenderer::renderObjectDepth(*renderObj); } } @@ -820,6 +865,9 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo renderObj->m_lightDirWorld = lightDirWorld; renderObj->m_lightColor = lightColor; renderObj->m_lightDistance = lightDistance; + renderObj->m_lightAmbientCoeff = lightAmbientCoeff; + renderObj->m_lightDiffuseCoeff = lightDiffuseCoeff; + renderObj->m_lightSpecularCoeff = lightSpecularCoeff; TinyRenderer::renderObject(*renderObj); } } diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h index a081b4d22..78b4c62d6 100644 --- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h +++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h @@ -35,6 +35,9 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter void setLightDirection(float x, float y, float z); void setLightColor(float x, float y, float z); void setLightDistance(float dist); + void setLightAmbientCoeff(float ambientCoeff); + void setLightDiffuseCoeff(float diffuseCoeff); + void setLightSpecularCoeff(float specularCoeff); void setShadow(bool hasShadow); void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied); diff --git a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp index 2ab5d3992..3dd8b2cce 100644 --- a/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp +++ b/examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp @@ -209,10 +209,13 @@ public: renderObj->m_projectionMatrix[i][j] = projMat[i+4*j]; renderObj->m_modelMatrix[i][j] = modelMat[i+4*j]; renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; - renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); - renderObj->m_lightDirWorld = lightDirWorld; } } + renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); + renderObj->m_lightDirWorld = lightDirWorld; + renderObj->m_lightAmbientCoeff = 0.6; + renderObj->m_lightDiffuseCoeff = 0.35; + renderObj->m_lightSpecularCoeff = 0.05; TinyRenderer::renderObject(*renderObj); } } diff --git a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp index d9c324c30..4ebda9d3b 100644 --- a/examples/StandaloneMain/main_tinyrenderer_single_example.cpp +++ b/examples/StandaloneMain/main_tinyrenderer_single_example.cpp @@ -230,10 +230,13 @@ struct TinyRendererGUIHelper : public GUIHelperInterface renderObj->m_projectionMatrix[i][j] = projMat[i+4*j]; renderObj->m_modelMatrix[i][j] = modelMat[i+4*j]; renderObj->m_viewMatrix[i][j] = viewMat[i+4*j]; - renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); - renderObj->m_lightDirWorld = lightDirWorld; } } + renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling(); + renderObj->m_lightDirWorld = lightDirWorld; + renderObj->m_lightAmbientCoeff = 0.6; + renderObj->m_lightDiffuseCoeff = 0.35; + renderObj->m_lightSpecularCoeff = 0.05; TinyRenderer::renderObject(*renderObj); } } diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index d321caccd..8ae3fb1e5 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -66,13 +66,15 @@ struct Shader : public IShader { Vec3f m_light_color; Matrix& m_modelMat; Matrix m_invModelMat; - Matrix& m_modelView1; Matrix& m_projectionMat; Vec3f m_localScaling; Matrix& m_lightModelView; Vec4f m_colorRGBA; Matrix& m_viewportMat; + float m_ambient_coefficient; + float m_diffuse_coefficient; + float m_specular_coefficient; b3AlignedObjectArray* m_shadowBuffer; @@ -86,10 +88,13 @@ struct Shader : public IShader { mat<4,3,float> varying_tri_light_view; mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS - Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray* shadowBuffer) + Shader(Model* model, Vec3f light_dir_local, Vec3f light_color, Matrix& modelView, Matrix& lightModelView, Matrix& projectionMat, Matrix& modelMat, Matrix& viewportMat, Vec3f localScaling, const Vec4f& colorRGBA, int width, int height, b3AlignedObjectArray* shadowBuffer, float ambient_coefficient=0.6, float diffuse_coefficient=0.35, float specular_coefficient=0.05) :m_model(model), m_light_dir_local(light_dir_local), m_light_color(light_color), + m_ambient_coefficient(ambient_coefficient), + m_diffuse_coefficient(diffuse_coefficient), + m_specular_coefficient(specular_coefficient), m_modelView1(modelView), m_lightModelView(lightModelView), m_projectionMat(projectionMat), @@ -135,11 +140,10 @@ struct Shader : public IShader { float specular = pow(b3Max(reflection_direction.z, 0.f), m_model->specular(uv)); float diffuse = b3Max(0.f, bn * m_light_dir_local); - float ambient_coefficient = 0.6; - float diffuse_coefficient = 0.35; - float specular_coefficient = 0.05; + Vec3f light_coeff = Vec3f(m_ambient_coefficient, m_diffuse_coefficient, m_specular_coefficient); + light_coeff = light_coeff/(light_coeff[0]+light_coeff[1]+light_coeff[2]); - float intensity = ambient_coefficient + b3Min(diffuse * diffuse_coefficient + specular * specular_coefficient, 1.0f - ambient_coefficient); + float intensity = light_coeff[0] + b3Min(diffuse * light_coeff[1] + specular * light_coeff[2], 1.0f - light_coeff[0]); color = m_model->diffuse(uv) * intensity * shadow; @@ -175,6 +179,9 @@ m_objectIndex(-1) m_lightColor.setValue(1, 1, 1); m_localScaling.setValue(1,1,1); m_modelMatrix = Matrix::identity(); + m_lightAmbientCoeff = 0.6; + m_lightDiffuseCoeff = 0.35; + m_lightSpecularCoeff = 0.05; } @@ -195,6 +202,9 @@ m_objectIndex(objectIndex) m_lightColor.setValue(1, 1, 1); m_localScaling.setValue(1,1,1); m_modelMatrix = Matrix::identity(); + m_lightAmbientCoeff = 0.6; + m_lightDiffuseCoeff = 0.35; + m_lightSpecularCoeff = 0.05; } @@ -214,6 +224,9 @@ m_objectIndex(-1) m_lightColor.setValue(1, 1, 1); m_localScaling.setValue(1,1,1); m_modelMatrix = Matrix::identity(); + m_lightAmbientCoeff = 0.6; + m_lightDiffuseCoeff = 0.35; + m_lightSpecularCoeff = 0.05; } @@ -233,6 +246,9 @@ m_objectIndex(objectIndex) m_lightColor.setValue(1, 1, 1); m_localScaling.setValue(1,1,1); m_modelMatrix = Matrix::identity(); + m_lightAmbientCoeff = 0.6; + m_lightDiffuseCoeff = 0.35; + m_lightSpecularCoeff = 0.05; } @@ -429,7 +445,7 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData) Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix; Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]); - Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr); + Shader shader(model, light_dir_local, light_color, modelViewMatrix, lightModelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, renderData.m_viewportMatrix, localScaling, model->getColorRGBA(), width, height, shadowBufferPtr, renderData.m_lightAmbientCoeff, renderData.m_lightDiffuseCoeff, renderData.m_lightSpecularCoeff); for (int i=0; infaces(); i++) { diff --git a/examples/TinyRenderer/TinyRenderer.h b/examples/TinyRenderer/TinyRenderer.h index 4b5fc7c5f..2ba811d80 100644 --- a/examples/TinyRenderer/TinyRenderer.h +++ b/examples/TinyRenderer/TinyRenderer.h @@ -20,6 +20,9 @@ struct TinyRenderObjectData btVector3 m_lightDirWorld; btVector3 m_lightColor; float m_lightDistance; + float m_lightAmbientCoeff; + float m_lightDiffuseCoeff; + float m_lightSpecularCoeff; //Model (vertices, indices, textures, shader) Matrix m_modelMatrix; From 9cd27b8456266a3c8a6e71aefb217b5d246493cf Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Tue, 6 Dec 2016 15:38:09 -0800 Subject: [PATCH 087/102] Add pybullet API for changing ambient, diffuse, and specular coefficients. --- examples/pybullet/pybullet.c | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 5d8844c4b..c2d6109f9 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -2582,7 +2582,7 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py /// Render an image from the current timestep of the simulation, width, height are required, other args are optional -// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow) +// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff) static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) { /// request an image from a simulated camera, using a software renderer. @@ -2596,6 +2596,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec float lightColor[3]; float lightDist = 10.0; int hasShadow = 0; + float lightAmbientCoeff = 0.6; + float lightDiffuseCoeff = 0.35; + float lightSpecularCoeff = 0.05; // inialize cmd b3SharedMemoryCommandHandle command; @@ -2608,9 +2611,9 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec command = b3InitRequestCameraImage(sm); // 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", NULL }; + static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", NULL }; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifff", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff)) { return NULL; } @@ -2635,6 +2638,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec b3RequestCameraImageSetLightDistance(command, lightDist); b3RequestCameraImageSetShadow(command, hasShadow); + + b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff); + b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff); + b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff); if (b3CanSubmitCommand(sm)) { @@ -3730,7 +3737,7 @@ static PyMethodDef SpamMethods[] = { { "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS, "Render an image (given the pixel resolution width, height, camera viewMatrix " - ", projectionMatrix, lightDirection, lightColor, lightDistance, and shadow), and return the " + ", projectionMatrix, lightDirection, lightColor, lightDistance, shadow, lightAmbientCoeff, lightDiffuseCoeff, and lightSpecularCoeff), and return the " "8-8-8bit RGB pixel data and floating point depth values" #ifdef PYBULLET_USE_NUMPY " as NumPy arrays" From 9c4222ea9e23c43412e3845c9fd3bea7a5ad7435 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Wed, 7 Dec 2016 11:33:26 -0800 Subject: [PATCH 088/102] Modify shader so that the color of the light and the shadow don't affect the ambient component. --- examples/TinyRenderer/TinyRenderer.cpp | 24 +++++++++--------------- 1 file changed, 9 insertions(+), 15 deletions(-) diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 8ae3fb1e5..4284d484d 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -140,22 +140,16 @@ struct Shader : public IShader { float specular = pow(b3Max(reflection_direction.z, 0.f), m_model->specular(uv)); float diffuse = b3Max(0.f, bn * m_light_dir_local); - Vec3f light_coeff = Vec3f(m_ambient_coefficient, m_diffuse_coefficient, m_specular_coefficient); - light_coeff = light_coeff/(light_coeff[0]+light_coeff[1]+light_coeff[2]); + color = TGAColor(255,255,255,255); + color[0] *= m_colorRGBA[0]; + color[1] *= m_colorRGBA[1]; + color[2] *= m_colorRGBA[2]; + color[3] *= m_colorRGBA[3]; - float intensity = light_coeff[0] + b3Min(diffuse * light_coeff[1] + specular * light_coeff[2], 1.0f - light_coeff[0]); - - color = m_model->diffuse(uv) * intensity * shadow; - - //warning: bgra color is swapped to rgba to upload texture - color.bgra[0] *= m_colorRGBA[0]; - color.bgra[1] *= m_colorRGBA[1]; - color.bgra[2] *= m_colorRGBA[2]; - color.bgra[3] *= m_colorRGBA[3]; - - color.bgra[0] *= m_light_color[0]; - color.bgra[1] *= m_light_color[1]; - color.bgra[2] *= m_light_color[2]; + for (int i = 0; i < 3; ++i) + { + color[i] = std::min(m_ambient_coefficient*color[i] + shadow*(m_diffuse_coefficient*diffuse+m_specular_coefficient*specular)*color[i]*m_light_color[i], 255); + } return false; From 388cba152e898f66bcb9eeda7b2ea0666bf0cf63 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Wed, 7 Dec 2016 11:41:55 -0800 Subject: [PATCH 089/102] Fix error in integration test. --- examples/TinyRenderer/TinyRenderer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index 4284d484d..e3e4fe939 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -148,7 +148,7 @@ struct Shader : public IShader { for (int i = 0; i < 3; ++i) { - color[i] = std::min(m_ambient_coefficient*color[i] + shadow*(m_diffuse_coefficient*diffuse+m_specular_coefficient*specular)*color[i]*m_light_color[i], 255); + color[i] = b3Min(int(m_ambient_coefficient*color[i] + shadow*(m_diffuse_coefficient*diffuse+m_specular_coefficient*specular)*color[i]*m_light_color[i]), 255); } return false; From 4af7ee3b2e917753e9c0630ae646ecb161e3fc01 Mon Sep 17 00:00:00 2001 From: yunfeibai Date: Fri, 9 Dec 2016 17:17:24 -0800 Subject: [PATCH 090/102] Fix a bug when rendering texture. --- examples/TinyRenderer/TinyRenderer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp index e3e4fe939..3b55d188b 100644 --- a/examples/TinyRenderer/TinyRenderer.cpp +++ b/examples/TinyRenderer/TinyRenderer.cpp @@ -140,7 +140,7 @@ struct Shader : public IShader { float specular = pow(b3Max(reflection_direction.z, 0.f), m_model->specular(uv)); float diffuse = b3Max(0.f, bn * m_light_dir_local); - color = TGAColor(255,255,255,255); + color = m_model->diffuse(uv); color[0] *= m_colorRGBA[0]; color[1] *= m_colorRGBA[1]; color[2] *= m_colorRGBA[2]; From 710ac09b565b7c5759c09456b3861b42ed833e24 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 11 Dec 2016 09:16:18 -0800 Subject: [PATCH 091/102] fix clearVelocities (should use 6+dofCount, not 6+numLinks fixes issue 878 --- src/BulletDynamics/Featherstone/btMultiBody.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index b85656875..3c6b6154c 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -570,7 +570,7 @@ void btMultiBody::clearForcesAndTorques() void btMultiBody::clearVelocities() { - for (int i = 0; i < 6 + getNumLinks(); ++i) + for (int i = 0; i < 6 + getNumDofs(); ++i) { m_realBuf[i] = 0.f; } From 17570c47002d82806b41fa4019f2acd35e040e2d Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Sun, 11 Dec 2016 09:28:36 -0800 Subject: [PATCH 092/102] tweak color of quadruped robot URDF, tweak quadruped.py script to make it more compatible with VR demo allow VR physics server to run with or without 'realTimeSimulation' --- data/quadruped/quadruped.urdf | 100 ++++++++---------- .../PhysicsServerCommandProcessor.cpp | 8 +- .../PhysicsServerCommandProcessor.h | 1 + .../SharedMemory/PhysicsServerExample.cpp | 8 +- .../PhysicsServerSharedMemory.cpp | 6 ++ .../SharedMemory/PhysicsServerSharedMemory.h | 2 + examples/pybullet/quadruped.py | 12 ++- 7 files changed, 70 insertions(+), 67 deletions(-) diff --git a/data/quadruped/quadruped.urdf b/data/quadruped/quadruped.urdf index 843371c32..32e9c131c 100644 --- a/data/quadruped/quadruped.urdf +++ b/data/quadruped/quadruped.urdf @@ -5,8 +5,8 @@ - - + + @@ -26,9 +26,7 @@ - - - + @@ -55,9 +53,7 @@ - - - + @@ -84,9 +80,7 @@ - - - + @@ -113,9 +107,7 @@ - - - + @@ -142,9 +134,7 @@ - - - + @@ -171,9 +161,7 @@ - - - + @@ -200,9 +188,7 @@ - - - + @@ -229,9 +215,7 @@ - - - + @@ -258,8 +242,8 @@ - - + + @@ -286,8 +270,8 @@ - - + + @@ -315,8 +299,8 @@ - - + + @@ -345,8 +329,8 @@ - - + + @@ -374,8 +358,8 @@ - - + + @@ -402,8 +386,8 @@ - - + + @@ -431,8 +415,8 @@ - - + + @@ -461,8 +445,8 @@ - - + + @@ -493,8 +477,8 @@ - - + + @@ -521,8 +505,8 @@ - - + + @@ -550,8 +534,8 @@ - - + + @@ -580,8 +564,8 @@ - - + + @@ -609,8 +593,8 @@ - - + + @@ -637,8 +621,8 @@ - - + + @@ -666,8 +650,8 @@ - - + + @@ -696,8 +680,8 @@ - - + + diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 2b62a92c7..167f38c0a 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -4030,6 +4030,12 @@ int gDroppedSimulationSteps = 0; int gNumSteps = 0; double gDtInSec = 0.f; double gSubStep = 0.f; + +void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTimeSim) +{ + m_data->m_allowRealTimeSimulation = enableRealTimeSim; +} + void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) { if (gResetSimulation) @@ -4038,7 +4044,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) gResetSimulation = false; } - if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper) + if ((m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper) { ///this hardcoded C++ scene creation is temporary for demo purposes. It will be done in Python later... diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h index dc7992980..c8a060069 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.h +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h @@ -85,6 +85,7 @@ public: void replayFromLogFile(const char* fileName); void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes ); void stepSimulationRealTime(double dtInSec); + void enableRealTimeSimulation(bool enableRealTimeSim); void applyJointDamping(int bodyUniqueId); }; diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp index 0a909e938..2bc823d3b 100644 --- a/examples/SharedMemory/PhysicsServerExample.cpp +++ b/examples/SharedMemory/PhysicsServerExample.cpp @@ -1584,7 +1584,11 @@ void PhysicsServerExample::renderScene() if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera()) { - gEnableRealTimeSimVR = true; + if (!gEnableRealTimeSimVR) + { + gEnableRealTimeSimVR = true; + m_physicsServer.enableRealTimeSimulation(1); + } } @@ -1819,8 +1823,6 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis) { - gEnableRealTimeSimVR = true; - if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS) { printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS); diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp index 111ac07f5..158bdac6b 100644 --- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp +++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp @@ -241,6 +241,12 @@ void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec) m_data->m_commandProcessor->stepSimulationRealTime(dtInSec); } +void PhysicsServerSharedMemory::enableRealTimeSimulation(bool enableRealTimeSim) +{ + m_data->m_commandProcessor->enableRealTimeSimulation(enableRealTimeSim); +} + + void PhysicsServerSharedMemory::processClientCommands() { diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h index c330817b4..f29e844f2 100644 --- a/examples/SharedMemory/PhysicsServerSharedMemory.h +++ b/examples/SharedMemory/PhysicsServerSharedMemory.h @@ -28,6 +28,8 @@ public: virtual void stepSimulationRealTime(double dtInSec); + virtual void enableRealTimeSimulation(bool enableRealTimeSim); + //bool supportsJointMotor(class btMultiBody* body, int linkIndex); diff --git a/examples/pybullet/quadruped.py b/examples/pybullet/quadruped.py index 6205191f1..31cffbce4 100644 --- a/examples/pybullet/quadruped.py +++ b/examples/pybullet/quadruped.py @@ -4,9 +4,10 @@ import math p.connect(p.SHARED_MEMORY) p.loadURDF("plane.urdf") -quadruped = p.loadURDF("quadruped/quadruped.urdf",0,0,.3) +p.setGravity(0,0,-1) +p.setRealTimeSimulation(0) +quadruped = p.loadURDF("quadruped/quadruped.urdf",10,-2,2) #p.getNumJoints(1) - #right front leg p.resetJointState(quadruped,0,1.57) p.resetJointState(quadruped,2,-2.2) @@ -64,16 +65,17 @@ p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1) p.setJointMotorControl(quadruped,22,p.VELOCITY_CONTROL,0,0) p.setJointMotorControl(quadruped,23,p.VELOCITY_CONTROL,0,0) -p.setGravity(0,0,-10) + p_gain = 2 speed = 10 amplitude = 1.3 #stand still -t_end = time.time() + 5 +t_end = time.time() + 2 while time.time() < t_end: p.stepSimulation() +p.setGravity(0,0,-10) jump_amp = 0.5 @@ -125,4 +127,4 @@ while time.time() < t_end: p.setJointMotorControl(quadruped,21,p.POSITION_CONTROL,-1.57,1) p.stepSimulation() - +p.setRealTimeSimulation(1) From a393074793fae45017ffdd2e520981109abfbaf8 Mon Sep 17 00:00:00 2001 From: erwin coumans Date: Sun, 11 Dec 2016 22:39:45 -0800 Subject: [PATCH 093/102] update to latest OpenVR 1.04 (and make minor API changes) add premake5.exe (will remove premake4.exe soon) --- build3/premake5.exe | Bin 0 -> 1059328 bytes build_visual_studio_vr_pybullet_double.bat | 2 +- .../StandaloneMain/hellovr_opengl_main.cpp | 12 +- .../openvr/bin/linux64/libopenvr_api.so | Bin 389560 -> 394088 bytes .../openvr/bin/osx32/libopenvr_api.dylib | Bin 304956 -> 308788 bytes .../openvr/bin/win32/openvr_api.dll | Bin 267040 -> 267040 bytes .../openvr/bin/win64/openvr_api.dll | Bin 314656 -> 314656 bytes .../ThirdPartyLibs/openvr/headers/openvr.h | 171 ++++++++++++++---- .../openvr/headers/openvr_api.cs | 135 +++++++++++--- .../openvr/headers/openvr_api.json | 96 ++++++++-- .../openvr/headers/openvr_capi.h | 74 +++++++- .../openvr/headers/openvr_driver.h | 75 +++++--- .../openvr/lib/linux64/libopenvr_api.so | Bin 3144159 -> 3158647 bytes .../openvr/lib/win32/openvr_api.lib | Bin 5750 -> 5750 bytes .../openvr/lib/win64/openvr_api.lib | Bin 5668 -> 5668 bytes 15 files changed, 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Vector2(dc0.rfRed[0], 1 - dc0.rfRed[1]); vert.texCoordGreen = Vector2(dc0.rfGreen[0], 1 - dc0.rfGreen[1]); vert.texCoordBlue = Vector2(dc0.rfBlue[0], 1 - dc0.rfBlue[1]); @@ -1507,8 +1508,9 @@ void CMainApplication::SetupDistortion() u = x*w; v = 1-y*h; vert.position = Vector2( Xoffset+u, -1+2*y*h ); - vr::DistortionCoordinates_t dc0 = m_pHMD->ComputeDistortion( vr::Eye_Right, u, v ); - + vr::DistortionCoordinates_t dc0; + bool result = m_pHMD->ComputeDistortion( vr::Eye_Right, u, v,&dc0 ); + btAssert(result); vert.texCoordRed = Vector2(dc0.rfRed[0], 1 - dc0.rfRed[1]); vert.texCoordGreen = Vector2(dc0.rfGreen[0], 1 - dc0.rfGreen[1]); vert.texCoordBlue = Vector2(dc0.rfBlue[0], 1 - dc0.rfBlue[1]); diff --git a/examples/ThirdPartyLibs/openvr/bin/linux64/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/bin/linux64/libopenvr_api.so index 692a87c0d3623c819c41be88c6556f353f5a47c0..a7d57c65852766c430e23ebd4fd351c1218f205d 100644 GIT binary patch delta 125776 zcmbq+d3;RQ`~TbkY 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If you change this you MUST manually update openvr_interop.cs.py */ typedef union { VREvent_Reserved_t reserved; @@ -749,6 +750,14 @@ struct HiddenAreaMesh_t }; +enum EHiddenAreaMeshType +{ + k_eHiddenAreaMesh_Standard = 0, + k_eHiddenAreaMesh_Inverse = 1, + k_eHiddenAreaMesh_LineLoop = 2, +}; + + /** Identifies what kind of axis is on the controller at index n. Read this type * with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n ); */ @@ -832,26 +841,28 @@ static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0; /** Errors that can occur around VR overlays */ enum EVROverlayError { - VROverlayError_None = 0, + VROverlayError_None = 0, - VROverlayError_UnknownOverlay = 10, - VROverlayError_InvalidHandle = 11, - VROverlayError_PermissionDenied = 12, - VROverlayError_OverlayLimitExceeded = 13, // No more overlays could be created because the maximum number already exist - VROverlayError_WrongVisibilityType = 14, - VROverlayError_KeyTooLong = 15, - VROverlayError_NameTooLong = 16, - VROverlayError_KeyInUse = 17, - VROverlayError_WrongTransformType = 18, - VROverlayError_InvalidTrackedDevice = 19, - VROverlayError_InvalidParameter = 20, - VROverlayError_ThumbnailCantBeDestroyed = 21, - VROverlayError_ArrayTooSmall = 22, - VROverlayError_RequestFailed = 23, - VROverlayError_InvalidTexture = 24, - VROverlayError_UnableToLoadFile = 25, - VROverlayError_KeyboardAlreadyInUse = 26, - VROverlayError_NoNeighbor = 27, + VROverlayError_UnknownOverlay = 10, + VROverlayError_InvalidHandle = 11, + VROverlayError_PermissionDenied = 12, + VROverlayError_OverlayLimitExceeded = 13, // No more overlays could be created because the maximum number already exist + VROverlayError_WrongVisibilityType = 14, + VROverlayError_KeyTooLong = 15, + VROverlayError_NameTooLong = 16, + VROverlayError_KeyInUse = 17, + VROverlayError_WrongTransformType = 18, + VROverlayError_InvalidTrackedDevice = 19, + VROverlayError_InvalidParameter = 20, + VROverlayError_ThumbnailCantBeDestroyed = 21, + VROverlayError_ArrayTooSmall = 22, + VROverlayError_RequestFailed = 23, + VROverlayError_InvalidTexture = 24, + VROverlayError_UnableToLoadFile = 25, + VROverlayError_KeyboardAlreadyInUse = 26, + VROverlayError_NoNeighbor = 27, + VROverlayError_TooManyMaskPrimitives = 29, + VROverlayError_BadMaskPrimitive = 30, }; /** enum values to pass in to VR_Init to identify whether the application will @@ -1126,10 +1137,10 @@ public: * application is doing something fancy like infinite Z */ virtual void GetProjectionRaw( EVREye eEye, float *pfLeft, float *pfRight, float *pfTop, float *pfBottom ) = 0; - /** Returns the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in + /** Gets the result of the distortion function for the specified eye and input UVs. UVs go from 0,0 in * the upper left of that eye's viewport and 1,1 in the lower right of that eye's viewport. - * Values may be NAN to indicate an error has occurred. */ - virtual DistortionCoordinates_t ComputeDistortion( EVREye eEye, float fU, float fV ) = 0; + * Returns true for success. Otherwise, returns false, and distortion coordinates are not suitable. */ + virtual bool ComputeDistortion( EVREye eEye, float fU, float fV, DistortionCoordinates_t *pDistortionCoordinates ) = 0; /** Returns the transform from eye space to the head space. Eye space is the per-eye flavor of head * space that provides stereo disparity. Instead of Model * View * Projection the sequence is Model * View * Eye^-1 * Projection. @@ -1265,7 +1276,7 @@ public: /** Returns a string property. If the device index is not valid or the property is not a string type this function will * return 0. Otherwise it returns the length of the number of bytes necessary to hold this string including the trailing - * null. Strings will generally fit in buffers of k_unTrackingStringSize characters. */ + * null. Strings will always fit in buffers of k_unMaxPropertyStringSize characters. */ virtual uint32_t GetStringTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, VR_OUT_STRING() char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L ) = 0; /** returns a string that corresponds with the specified property error. The string will be the name @@ -1293,14 +1304,15 @@ public: // Rendering helper methods // ------------------------------------ - /** Returns the stencil mesh information for the current HMD. If this HMD does not have a stencil mesh the vertex data and count will be - * NULL and 0 respectively. This mesh is meant to be rendered into the stencil buffer (or into the depth buffer setting nearz) before rendering - * each eye's view. The pixels covered by this mesh will never be seen by the user after the lens distortion is applied and based on visibility to the panels. - * This will improve perf by letting the GPU early-reject pixels the user will never see before running the pixel shader. + /** Returns the hidden area mesh for the current HMD. The pixels covered by this mesh will never be seen by the user after the lens distortion is + * applied based on visibility to the panels. If this HMD does not have a hidden area mesh, the vertex data and count will be NULL and 0 respectively. + * This mesh is meant to be rendered into the stencil buffer (or into the depth buffer setting nearz) before rendering each eye's view. + * This will improve performance by letting the GPU early-reject pixels the user will never see before running the pixel shader. * NOTE: Render this mesh with backface culling disabled since the winding order of the vertices can be different per-HMD or per-eye. + * Setting the bInverse argument to true will produce the visible area mesh that is commonly used in place of full-screen quads. The visible area mesh covers all of the pixels the hidden area mesh does not cover. + * Setting the bLineLoop argument will return a line loop of vertices in HiddenAreaMesh_t->pVertexData with HiddenAreaMesh_t->unTriangleCount set to the number of vertices. */ - virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye ) = 0; - + virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye, EHiddenAreaMeshType type = k_eHiddenAreaMesh_Standard ) = 0; // ------------------------------------ // Controller methods @@ -1308,12 +1320,12 @@ public: /** Fills the supplied struct with the current state of the controller. Returns false if the controller index * is invalid. */ - virtual bool GetControllerState( vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState ) = 0; + virtual bool GetControllerState( vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, uint32_t unControllerStateSize ) = 0; /** fills the supplied struct with the current state of the controller and the provided pose with the pose of * the controller when the controller state was updated most recently. Use this form if you need a precise controller * pose as input to your application when the user presses or releases a button. */ - virtual bool GetControllerStateWithPose( ETrackingUniverseOrigin eOrigin, vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, TrackedDevicePose_t *pTrackedDevicePose ) = 0; + virtual bool GetControllerStateWithPose( ETrackingUniverseOrigin eOrigin, vr::TrackedDeviceIndex_t unControllerDeviceIndex, vr::VRControllerState_t *pControllerState, uint32_t unControllerStateSize, TrackedDevicePose_t *pTrackedDevicePose ) = 0; /** Trigger a single haptic pulse on a controller. After this call the application may not trigger another haptic pulse on this controller * and axis combination for 5ms. */ @@ -1346,7 +1358,6 @@ public: * The size of the response including its terminating null is returned. */ virtual uint32_t DriverDebugRequest( vr::TrackedDeviceIndex_t unDeviceIndex, const char *pchRequest, char *pchResponseBuffer, uint32_t unResponseBufferSize ) = 0; - // ------------------------------------ // Firmware methods // ------------------------------------ @@ -1358,7 +1369,6 @@ public: * Prop_Firmware_ManualUpdateURL_String should point to an URL describing the manual update process */ virtual vr::EVRFirmwareError PerformFirmwareUpdate( vr::TrackedDeviceIndex_t unDeviceIndex ) = 0; - // ------------------------------------ // Application life cycle methods // ------------------------------------ @@ -1374,7 +1384,7 @@ public: }; -static const char * const IVRSystem_Version = "IVRSystem_012"; +static const char * const IVRSystem_Version = "IVRSystem_014"; } @@ -1644,9 +1654,9 @@ namespace vr static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel"; static const char * const k_pch_SteamVR_IPD_Float = "ipd"; static const char * const k_pch_SteamVR_Background_String = "background"; + static const char * const k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection"; static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight"; static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius"; - static const char * const k_pch_SteamVR_Environment_String = "environment"; static const char * const k_pch_SteamVR_GridColor_String = "gridColor"; static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor"; static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage"; @@ -1659,7 +1669,8 @@ namespace vr static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement"; static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses"; static const char * const k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier"; - static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowReprojection"; + static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection"; + static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection"; static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection"; static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking"; static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView"; @@ -1670,6 +1681,7 @@ namespace vr static const char * const k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp"; static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec"; static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo"; + static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset"; //----------------------------------------------------------------------------- @@ -1703,6 +1715,7 @@ namespace vr // user interface keys static const char * const k_pch_UserInterface_Section = "userinterface"; static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop"; + static const char * const k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray"; static const char * const k_pch_UserInterface_Screenshots_Bool = "screenshots"; static const char * const k_pch_UserInterface_ScreenshotType_Int = "screenshotType"; @@ -1987,10 +2000,17 @@ enum EVRCompositorError VRCompositorError_TextureUsesUnsupportedFormat = 105, VRCompositorError_SharedTexturesNotSupported = 106, VRCompositorError_IndexOutOfRange = 107, + VRCompositorError_AlreadySubmitted = 108, }; const uint32_t VRCompositor_ReprojectionReason_Cpu = 0x01; const uint32_t VRCompositor_ReprojectionReason_Gpu = 0x02; +const uint32_t VRCompositor_ReprojectionAsync = 0x04; // This flag indicates the async reprojection mode is active, + // but does not indicate if reprojection actually happened or not. + // Use the ReprojectionReason flags above to check if reprojection + // was actually applied (i.e. scene texture was reused). + // NumFramePresents > 1 also indicates the scene texture was reused, + // and also the number of times that it was presented in total. /** Provides a single frame's timing information to the app */ struct Compositor_FrameTiming @@ -1998,6 +2018,7 @@ struct Compositor_FrameTiming uint32_t m_nSize; // Set to sizeof( Compositor_FrameTiming ) uint32_t m_nFrameIndex; uint32_t m_nNumFramePresents; // number of times this frame was presented + uint32_t m_nNumMisPresented; // number of times this frame was presented on a vsync other than it was originally predicted to uint32_t m_nNumDroppedFrames; // number of additional times previous frame was scanned out uint32_t m_nReprojectionFlags; @@ -2074,7 +2095,14 @@ public: /** Gets current tracking space returned by WaitGetPoses */ virtual ETrackingUniverseOrigin GetTrackingSpace() = 0; - /** Returns pose(s) to use to render scene (and optionally poses predicted two frames out for gameplay). */ + /** Scene applications should call this function to get poses to render with (and optionally poses predicted an additional frame out to use for gameplay). + * This function will block until "running start" milliseconds before the start of the frame, and should be called at the last moment before needing to + * start rendering. + * + * Return codes: + * - IsNotSceneApplication (make sure to call VR_Init with VRApplicaiton_Scene) + * - DoNotHaveFocus (some other app has taken focus - this will throttle the call to 10hz to reduce the impact on that app) + */ virtual EVRCompositorError WaitGetPoses( VR_ARRAY_COUNT(unRenderPoseArrayCount) TrackedDevicePose_t* pRenderPoseArray, uint32_t unRenderPoseArrayCount, VR_ARRAY_COUNT(unGamePoseArrayCount) TrackedDevicePose_t* pGamePoseArray, uint32_t unGamePoseArrayCount ) = 0; @@ -2092,6 +2120,15 @@ public: * * OpenGL dirty state: * glBindTexture + * + * Return codes: + * - IsNotSceneApplication (make sure to call VR_Init with VRApplicaiton_Scene) + * - DoNotHaveFocus (some other app has taken focus) + * - TextureIsOnWrongDevice (application did not use proper AdapterIndex - see IVRSystem.GetDXGIOutputInfo) + * - SharedTexturesNotSupported (application needs to call CreateDXGIFactory1 or later before creating DX device) + * - TextureUsesUnsupportedFormat (scene textures must be compatible with DXGI sharing rules - e.g. uncompressed, no mips, etc.) + * - InvalidTexture (usually means bad arguments passed in) + * - AlreadySubmitted (app has submitted two left textures or two right textures in a single frame - i.e. before calling WaitGetPoses again) */ virtual EVRCompositorError Submit( EVREye eEye, const Texture_t *pTexture, const VRTextureBounds_t* pBounds = 0, EVRSubmitFlags nSubmitFlags = Submit_Default ) = 0; @@ -2110,6 +2147,10 @@ public: * Be sure to set timing.size = sizeof(Compositor_FrameTiming) on struct passed in before calling this function. */ virtual bool GetFrameTiming( Compositor_FrameTiming *pTiming, uint32_t unFramesAgo = 0 ) = 0; + /** Interface for copying a range of timing data. Frames are returned in ascending order (oldest to newest) with the last being the most recent frame. + * Only the first entry's m_nSize needs to be set, as the rest will be inferred from that. Returns total number of entries filled out. */ + virtual uint32_t GetFrameTimings( Compositor_FrameTiming *pTiming, uint32_t nFrames ) = 0; + /** Returns the time in seconds left in the current (as identified by FrameTiming's frameIndex) frame. * Due to "running start", this value may roll over to the next frame before ever reaching 0.0. */ virtual float GetFrameTimeRemaining() = 0; @@ -2122,9 +2163,15 @@ public: * would be FadeToColor( 0.0, 0.0, 0.0, 0.0, 0.0 ). Values are in un-premultiplied alpha space. */ virtual void FadeToColor( float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground = false ) = 0; + /** Get current fade color value. */ + virtual HmdColor_t GetCurrentFadeColor( bool bBackground = false ) = 0; + /** Fading the Grid in or out in fSeconds */ virtual void FadeGrid( float fSeconds, bool bFadeIn ) = 0; + /** Get current alpha value of grid. */ + virtual float GetCurrentGridAlpha() = 0; + /** Override the skybox used in the compositor (e.g. for during level loads when the app can't feed scene images fast enough) * Order is Front, Back, Left, Right, Top, Bottom. If only a single texture is passed, it is assumed in lat-long format. * If two are passed, it is assumed a lat-long stereo pair. */ @@ -2191,7 +2238,7 @@ public: virtual void UnlockGLSharedTextureForAccess( vr::glSharedTextureHandle_t glSharedTextureHandle ) = 0; }; -static const char * const IVRCompositor_Version = "IVRCompositor_016"; +static const char * const IVRCompositor_Version = "IVRCompositor_018"; } // namespace vr @@ -2308,6 +2355,9 @@ namespace vr /** The maximum number of overlays that can exist in the system at one time. */ static const uint32_t k_unMaxOverlayCount = 64; + /** The maximum number of overlay intersection mask primitives per overlay */ + static const uint32_t k_unMaxOverlayIntersectionMaskPrimitivesCount = 32; + /** Types of input supported by VR Overlays */ enum VROverlayInputMethod { @@ -2407,6 +2457,40 @@ namespace vr OverlayDirection_Count = 4, }; + enum EVROverlayIntersectionMaskPrimitiveType + { + OverlayIntersectionPrimitiveType_Rectangle, + OverlayIntersectionPrimitiveType_Circle, + }; + + struct IntersectionMaskRectangle_t + { + float m_flTopLeftX; + float m_flTopLeftY; + float m_flWidth; + float m_flHeight; + }; + + struct IntersectionMaskCircle_t + { + float m_flCenterX; + float m_flCenterY; + float m_flRadius; + }; + + /** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py and openvr_api_flat.h.py */ + typedef union + { + IntersectionMaskRectangle_t m_Rectangle; + IntersectionMaskCircle_t m_Circle; + } VROverlayIntersectionMaskPrimitive_Data_t; + + struct VROverlayIntersectionMaskPrimitive_t + { + EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType; + VROverlayIntersectionMaskPrimitive_Data_t m_Primitive; + }; + class IVROverlay { public: @@ -2703,6 +2787,13 @@ namespace vr /** Set the position of the keyboard in overlay space by telling it to avoid a rectangle in the overlay. Rectangle coords have (0,0) in the bottom left **/ virtual void SetKeyboardPositionForOverlay( VROverlayHandle_t ulOverlayHandle, HmdRect2_t avoidRect ) = 0; + // --------------------------------------------- + // Overlay input methods + // --------------------------------------------- + + /** Sets a list of primitives to be used for controller ray intersection + * typically the size of the underlying UI in pixels (not in world space). */ + virtual EVROverlayError SetOverlayIntersectionMask( VROverlayHandle_t ulOverlayHandle, VROverlayIntersectionMaskPrimitive_t *pMaskPrimitives, uint32_t unNumMaskPrimitives, uint32_t unPrimitiveSize = sizeof( VROverlayIntersectionMaskPrimitive_t ) ) = 0; }; static const char * const IVROverlay_Version = "IVROverlay_013"; diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs b/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs index 8fcac88dd..517e2af93 100644 --- a/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs +++ b/examples/ThirdPartyLibs/openvr/headers/openvr_api.cs @@ -31,7 +31,7 @@ public struct IVRSystem internal _GetProjectionRaw GetProjectionRaw; [UnmanagedFunctionPointer(CallingConvention.StdCall)] - internal delegate DistortionCoordinates_t _ComputeDistortion(EVREye eEye, float fU, float fV); + internal delegate bool _ComputeDistortion(EVREye eEye, float fU, float fV, ref DistortionCoordinates_t pDistortionCoordinates); [MarshalAs(UnmanagedType.FunctionPtr)] internal _ComputeDistortion ComputeDistortion; @@ -171,17 +171,17 @@ public struct IVRSystem internal _GetEventTypeNameFromEnum GetEventTypeNameFromEnum; [UnmanagedFunctionPointer(CallingConvention.StdCall)] - internal delegate HiddenAreaMesh_t _GetHiddenAreaMesh(EVREye eEye); + internal delegate HiddenAreaMesh_t _GetHiddenAreaMesh(EVREye eEye, EHiddenAreaMeshType type); [MarshalAs(UnmanagedType.FunctionPtr)] internal _GetHiddenAreaMesh GetHiddenAreaMesh; [UnmanagedFunctionPointer(CallingConvention.StdCall)] - internal delegate bool _GetControllerState(uint unControllerDeviceIndex, ref VRControllerState_t pControllerState); + internal delegate bool _GetControllerState(uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, uint unControllerStateSize); [MarshalAs(UnmanagedType.FunctionPtr)] internal _GetControllerState GetControllerState; [UnmanagedFunctionPointer(CallingConvention.StdCall)] - internal delegate bool _GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin, uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, ref TrackedDevicePose_t pTrackedDevicePose); + internal delegate bool _GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin, uint unControllerDeviceIndex, ref VRControllerState_t pControllerState, uint unControllerStateSize, ref TrackedDevicePose_t pTrackedDevicePose); [MarshalAs(UnmanagedType.FunctionPtr)] internal _GetControllerStateWithPose GetControllerStateWithPose; @@ -675,6 +675,11 @@ public struct IVRCompositor [MarshalAs(UnmanagedType.FunctionPtr)] internal _GetFrameTiming GetFrameTiming; + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate uint _GetFrameTimings(ref Compositor_FrameTiming pTiming, uint nFrames); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetFrameTimings GetFrameTimings; + [UnmanagedFunctionPointer(CallingConvention.StdCall)] internal delegate float _GetFrameTimeRemaining(); [MarshalAs(UnmanagedType.FunctionPtr)] @@ -690,11 +695,21 @@ public struct IVRCompositor [MarshalAs(UnmanagedType.FunctionPtr)] internal _FadeToColor FadeToColor; + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate HmdColor_t _GetCurrentFadeColor(bool bBackground); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCurrentFadeColor GetCurrentFadeColor; + [UnmanagedFunctionPointer(CallingConvention.StdCall)] internal delegate void _FadeGrid(float fSeconds, bool bFadeIn); [MarshalAs(UnmanagedType.FunctionPtr)] internal _FadeGrid FadeGrid; + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate float _GetCurrentGridAlpha(); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _GetCurrentGridAlpha GetCurrentGridAlpha; + [UnmanagedFunctionPointer(CallingConvention.StdCall)] internal delegate EVRCompositorError _SetSkyboxOverride([In, Out] Texture_t[] pTextures, uint unTextureCount); [MarshalAs(UnmanagedType.FunctionPtr)] @@ -1170,6 +1185,11 @@ public struct IVROverlay [MarshalAs(UnmanagedType.FunctionPtr)] internal _SetKeyboardPositionForOverlay SetKeyboardPositionForOverlay; + [UnmanagedFunctionPointer(CallingConvention.StdCall)] + internal delegate EVROverlayError _SetOverlayIntersectionMask(ulong ulOverlayHandle, ref VROverlayIntersectionMaskPrimitive_t pMaskPrimitives, uint unNumMaskPrimitives, uint unPrimitiveSize); + [MarshalAs(UnmanagedType.FunctionPtr)] + internal _SetOverlayIntersectionMask SetOverlayIntersectionMask; + } [StructLayout(LayoutKind.Sequential)] @@ -1429,9 +1449,9 @@ public class CVRSystem pfBottom = 0; FnTable.GetProjectionRaw(eEye,ref pfLeft,ref pfRight,ref pfTop,ref pfBottom); } - public DistortionCoordinates_t ComputeDistortion(EVREye eEye,float fU,float fV) + public bool ComputeDistortion(EVREye eEye,float fU,float fV,ref DistortionCoordinates_t pDistortionCoordinates) { - DistortionCoordinates_t result = FnTable.ComputeDistortion(eEye,fU,fV); + bool result = FnTable.ComputeDistortion(eEye,fU,fV,ref pDistortionCoordinates); return result; } public HmdMatrix34_t GetEyeToHeadTransform(EVREye eEye) @@ -1568,19 +1588,19 @@ public class CVRSystem IntPtr result = FnTable.GetEventTypeNameFromEnum(eType); return Marshal.PtrToStringAnsi(result); } - public HiddenAreaMesh_t GetHiddenAreaMesh(EVREye eEye) + public HiddenAreaMesh_t GetHiddenAreaMesh(EVREye eEye,EHiddenAreaMeshType type) { - HiddenAreaMesh_t result = FnTable.GetHiddenAreaMesh(eEye); + HiddenAreaMesh_t result = FnTable.GetHiddenAreaMesh(eEye,type); return result; } - public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState) + public bool GetControllerState(uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize) { - bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState); + bool result = FnTable.GetControllerState(unControllerDeviceIndex,ref pControllerState,unControllerStateSize); return result; } - public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,ref TrackedDevicePose_t pTrackedDevicePose) + public bool GetControllerStateWithPose(ETrackingUniverseOrigin eOrigin,uint unControllerDeviceIndex,ref VRControllerState_t pControllerState,uint unControllerStateSize,ref TrackedDevicePose_t pTrackedDevicePose) { - bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,ref pTrackedDevicePose); + bool result = FnTable.GetControllerStateWithPose(eOrigin,unControllerDeviceIndex,ref pControllerState,unControllerStateSize,ref pTrackedDevicePose); return result; } public void TriggerHapticPulse(uint unControllerDeviceIndex,uint unAxisId,char usDurationMicroSec) @@ -2117,6 +2137,11 @@ public class CVRCompositor bool result = FnTable.GetFrameTiming(ref pTiming,unFramesAgo); return result; } + public uint GetFrameTimings(ref Compositor_FrameTiming pTiming,uint nFrames) + { + uint result = FnTable.GetFrameTimings(ref pTiming,nFrames); + return result; + } public float GetFrameTimeRemaining() { float result = FnTable.GetFrameTimeRemaining(); @@ -2130,10 +2155,20 @@ public class CVRCompositor { FnTable.FadeToColor(fSeconds,fRed,fGreen,fBlue,fAlpha,bBackground); } + public HmdColor_t GetCurrentFadeColor(bool bBackground) + { + HmdColor_t result = FnTable.GetCurrentFadeColor(bBackground); + return result; + } public void FadeGrid(float fSeconds,bool bFadeIn) { FnTable.FadeGrid(fSeconds,bFadeIn); } + public float GetCurrentGridAlpha() + { + float result = FnTable.GetCurrentGridAlpha(); + return result; + } public EVRCompositorError SetSkyboxOverride(Texture_t [] pTextures) { EVRCompositorError result = FnTable.SetSkyboxOverride(pTextures,(uint) pTextures.Length); @@ -2623,6 +2658,11 @@ public class CVROverlay { FnTable.SetKeyboardPositionForOverlay(ulOverlayHandle,avoidRect); } + public EVROverlayError SetOverlayIntersectionMask(ulong ulOverlayHandle,ref VROverlayIntersectionMaskPrimitive_t pMaskPrimitives,uint unNumMaskPrimitives,uint unPrimitiveSize) + { + EVROverlayError result = FnTable.SetOverlayIntersectionMask(ulOverlayHandle,ref pMaskPrimitives,unNumMaskPrimitives,unPrimitiveSize); + return result; + } } @@ -2876,21 +2916,21 @@ public class CVRResources public class OpenVRInterop { - [DllImportAttribute("openvr_api", EntryPoint = "VR_InitInternal")] + [DllImportAttribute("openvr_api", EntryPoint = "VR_InitInternal", CallingConvention = CallingConvention.Cdecl)] internal static extern uint InitInternal(ref EVRInitError peError, EVRApplicationType eApplicationType); - [DllImportAttribute("openvr_api", EntryPoint = "VR_ShutdownInternal")] + [DllImportAttribute("openvr_api", EntryPoint = "VR_ShutdownInternal", CallingConvention = CallingConvention.Cdecl)] internal static extern void ShutdownInternal(); - [DllImportAttribute("openvr_api", EntryPoint = "VR_IsHmdPresent")] + [DllImportAttribute("openvr_api", EntryPoint = "VR_IsHmdPresent", CallingConvention = CallingConvention.Cdecl)] internal static extern bool IsHmdPresent(); - [DllImportAttribute("openvr_api", EntryPoint = "VR_IsRuntimeInstalled")] + [DllImportAttribute("openvr_api", EntryPoint = "VR_IsRuntimeInstalled", CallingConvention = CallingConvention.Cdecl)] internal static extern bool IsRuntimeInstalled(); - [DllImportAttribute("openvr_api", EntryPoint = "VR_GetStringForHmdError")] + [DllImportAttribute("openvr_api", EntryPoint = "VR_GetStringForHmdError", CallingConvention = CallingConvention.Cdecl)] internal static extern IntPtr GetStringForHmdError(EVRInitError error); - [DllImportAttribute("openvr_api", EntryPoint = "VR_GetGenericInterface")] + [DllImportAttribute("openvr_api", EntryPoint = "VR_GetGenericInterface", CallingConvention = CallingConvention.Cdecl)] internal static extern IntPtr GetGenericInterface([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion, ref EVRInitError peError); - [DllImportAttribute("openvr_api", EntryPoint = "VR_IsInterfaceVersionValid")] + [DllImportAttribute("openvr_api", EntryPoint = "VR_IsInterfaceVersionValid", CallingConvention = CallingConvention.Cdecl)] internal static extern bool IsInterfaceVersionValid([In, MarshalAs(UnmanagedType.LPStr)] string pchInterfaceVersion); - [DllImportAttribute("openvr_api", EntryPoint = "VR_GetInitToken")] + [DllImportAttribute("openvr_api", EntryPoint = "VR_GetInitToken", CallingConvention = CallingConvention.Cdecl)] internal static extern uint GetInitToken(); } @@ -2975,6 +3015,7 @@ public enum ETrackedDeviceProperty Prop_HasCamera_Bool = 1030, Prop_DriverVersion_String = 1031, Prop_Firmware_ForceUpdateRequired_Bool = 1032, + Prop_ViveSystemButtonFixRequired_Bool = 1033, Prop_ReportsTimeSinceVSync_Bool = 2000, Prop_SecondsFromVsyncToPhotons_Float = 2001, Prop_DisplayFrequency_Float = 2002, @@ -3012,6 +3053,7 @@ public enum ETrackedDeviceProperty Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034, Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035, Prop_DisplaySuppressed_Bool = 2036, + Prop_DisplayAllowNightMode_Bool = 2037, Prop_AttachedDeviceId_String = 3000, Prop_SupportedButtons_Uint64 = 3001, Prop_Axis0Type_Int32 = 3002, @@ -3214,6 +3256,12 @@ public enum EVRMouseButton Right = 2, Middle = 4, } +public enum EHiddenAreaMeshType +{ + k_eHiddenAreaMesh_Standard = 0, + k_eHiddenAreaMesh_Inverse = 1, + k_eHiddenAreaMesh_LineLoop = 2, +} public enum EVRControllerAxisType { k_eControllerAxis_None = 0, @@ -3256,6 +3304,8 @@ public enum EVROverlayError UnableToLoadFile = 25, KeyboardAlreadyInUse = 26, NoNeighbor = 27, + TooManyMaskPrimitives = 29, + BadMaskPrimitive = 30, } public enum EVRApplicationType { @@ -3483,6 +3533,7 @@ public enum EVRCompositorError TextureUsesUnsupportedFormat = 105, SharedTexturesNotSupported = 106, IndexOutOfRange = 107, + AlreadySubmitted = 108, } public enum VROverlayInputMethod { @@ -3533,6 +3584,11 @@ public enum EOverlayDirection Right = 3, Count = 4, } +public enum EVROverlayIntersectionMaskPrimitiveType +{ + OverlayIntersectionPrimitiveType_Rectangle = 0, + OverlayIntersectionPrimitiveType_Circle = 1, +} public enum EVRRenderModelError { None = 0, @@ -3609,6 +3665,13 @@ public enum EVRScreenshotError [FieldOffset(0)] public VREvent_Keyboard_t keyboard; // This has to be at the end due to a mono bug } + +[StructLayout(LayoutKind.Explicit)] public struct VROverlayIntersectionMaskPrimitive_Data_t +{ + [FieldOffset(0)] public IntersectionMaskRectangle_t m_Rectangle; + [FieldOffset(0)] public IntersectionMaskCircle_t m_Circle; +} + [StructLayout(LayoutKind.Sequential)] public struct HmdMatrix34_t { public float m0; //float[3][4] @@ -3898,6 +3961,7 @@ public enum EVRScreenshotError public uint m_nSize; public uint m_nFrameIndex; public uint m_nNumFramePresents; + public uint m_nNumMisPresented; public uint m_nNumDroppedFrames; public uint m_nReprojectionFlags; public double m_flSystemTimeInSeconds; @@ -3950,6 +4014,24 @@ public enum EVRScreenshotError public HmdVector2_t vUVs; public float fDistance; } +[StructLayout(LayoutKind.Sequential)] public struct IntersectionMaskRectangle_t +{ + public float m_flTopLeftX; + public float m_flTopLeftY; + public float m_flWidth; + public float m_flHeight; +} +[StructLayout(LayoutKind.Sequential)] public struct IntersectionMaskCircle_t +{ + public float m_flCenterX; + public float m_flCenterY; + public float m_flRadius; +} +[StructLayout(LayoutKind.Sequential)] public struct VROverlayIntersectionMaskPrimitive_t +{ + public EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType; + public VROverlayIntersectionMaskPrimitive_Data_t m_Primitive; +} [StructLayout(LayoutKind.Sequential)] public struct RenderModel_ComponentState_t { public HmdMatrix34_t mTrackingToComponentRenderModel; @@ -4048,7 +4130,6 @@ public class OpenVR return OpenVRInterop.GetInitToken(); } - public const uint k_unTrackingStringSize = 32; public const uint k_unMaxDriverDebugResponseSize = 32768; public const uint k_unTrackedDeviceIndex_Hmd = 0; public const uint k_unMaxTrackedDeviceCount = 16; @@ -4058,7 +4139,7 @@ public class OpenVR public const uint k_unControllerStateAxisCount = 5; public const ulong k_ulOverlayHandleInvalid = 0; public const uint k_unScreenshotHandleInvalid = 0; - public const string IVRSystem_Version = "IVRSystem_012"; + public const string IVRSystem_Version = "IVRSystem_014"; public const string IVRExtendedDisplay_Version = "IVRExtendedDisplay_001"; public const string IVRTrackedCamera_Version = "IVRTrackedCamera_003"; public const uint k_unMaxApplicationKeyLength = 128; @@ -4067,10 +4148,11 @@ public class OpenVR public const string IVRApplications_Version = "IVRApplications_006"; public const string IVRChaperone_Version = "IVRChaperone_003"; public const string IVRChaperoneSetup_Version = "IVRChaperoneSetup_005"; - public const string IVRCompositor_Version = "IVRCompositor_016"; + public const string IVRCompositor_Version = "IVRCompositor_018"; public const uint k_unVROverlayMaxKeyLength = 128; public const uint k_unVROverlayMaxNameLength = 128; public const uint k_unMaxOverlayCount = 64; + public const uint k_unMaxOverlayIntersectionMaskPrimitivesCount = 32; public const string IVROverlay_Version = "IVROverlay_013"; public const string k_pch_Controller_Component_GDC2015 = "gdc2015"; public const string k_pch_Controller_Component_Base = "base"; @@ -4095,9 +4177,9 @@ public class OpenVR public const string k_pch_SteamVR_LogLevel_Int32 = "loglevel"; public const string k_pch_SteamVR_IPD_Float = "ipd"; public const string k_pch_SteamVR_Background_String = "background"; + public const string k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection"; public const string k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight"; public const string k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius"; - public const string k_pch_SteamVR_Environment_String = "environment"; public const string k_pch_SteamVR_GridColor_String = "gridColor"; public const string k_pch_SteamVR_PlayAreaColor_String = "playAreaColor"; public const string k_pch_SteamVR_ShowStage_Bool = "showStage"; @@ -4110,7 +4192,8 @@ public class OpenVR public const string k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement"; public const string k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses"; public const string k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier"; - public const string k_pch_SteamVR_AllowReprojection_Bool = "allowReprojection"; + public const string k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection"; + public const string k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection"; public const string k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection"; public const string k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking"; public const string k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView"; @@ -4121,6 +4204,7 @@ public class OpenVR public const string k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp"; public const string k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec"; public const string k_pch_SteamVR_RetailDemo_Bool = "retailDemo"; + public const string k_pch_SteamVR_IpdOffset_Float = "ipdOffset"; public const string k_pch_Lighthouse_Section = "driver_lighthouse"; public const string k_pch_Lighthouse_DisableIMU_Bool = "disableimu"; public const string k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation"; @@ -4141,6 +4225,7 @@ public class OpenVR public const string k_pch_Null_DisplayFrequency_Float = "displayFrequency"; public const string k_pch_UserInterface_Section = "userinterface"; public const string k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop"; + public const string k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray"; public const string k_pch_UserInterface_Screenshots_Bool = "screenshots"; public const string k_pch_UserInterface_ScreenshotType_Int = "screenshotType"; public const string k_pch_Notifications_Section = "notifications"; diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_api.json b/examples/ThirdPartyLibs/openvr/headers/openvr_api.json index 832e8646b..d16771ddf 100644 --- a/examples/ThirdPartyLibs/openvr/headers/openvr_api.json +++ b/examples/ThirdPartyLibs/openvr/headers/openvr_api.json @@ -8,6 +8,7 @@ ,{"typedef": "vr::VROverlayHandle_t","type": "uint64_t"} ,{"typedef": "vr::TrackedCameraHandle_t","type": "uint64_t"} ,{"typedef": "vr::ScreenshotHandle_t","type": "uint32_t"} +,{"typedef": "vr::VROverlayIntersectionMaskPrimitive_Data_t","type": "union VROverlayIntersectionMaskPrimitive_Data_t"} ,{"typedef": "vr::VRComponentProperties","type": "uint32_t"} ,{"typedef": "vr::TextureID_t","type": "int32_t"} ,{"typedef": "vr::VRNotificationId","type": "uint32_t"} @@ -101,6 +102,7 @@ ,{"name": "Prop_HasCamera_Bool","value": "1030"} ,{"name": "Prop_DriverVersion_String","value": "1031"} ,{"name": "Prop_Firmware_ForceUpdateRequired_Bool","value": "1032"} + ,{"name": "Prop_ViveSystemButtonFixRequired_Bool","value": "1033"} ,{"name": "Prop_ReportsTimeSinceVSync_Bool","value": "2000"} ,{"name": "Prop_SecondsFromVsyncToPhotons_Float","value": "2001"} ,{"name": "Prop_DisplayFrequency_Float","value": "2002"} @@ -138,6 +140,7 @@ ,{"name": "Prop_ScreenshotHorizontalFieldOfViewDegrees_Float","value": "2034"} ,{"name": "Prop_ScreenshotVerticalFieldOfViewDegrees_Float","value": "2035"} ,{"name": "Prop_DisplaySuppressed_Bool","value": "2036"} + ,{"name": "Prop_DisplayAllowNightMode_Bool","value": "2037"} ,{"name": "Prop_AttachedDeviceId_String","value": "3000"} ,{"name": "Prop_SupportedButtons_Uint64","value": "3001"} ,{"name": "Prop_Axis0Type_Int32","value": "3002"} @@ -333,6 +336,11 @@ ,{"name": "VRMouseButton_Right","value": "2"} ,{"name": "VRMouseButton_Middle","value": "4"} ]} +, {"enumname": "vr::EHiddenAreaMeshType","values": [ + {"name": "k_eHiddenAreaMesh_Standard","value": "0"} + ,{"name": "k_eHiddenAreaMesh_Inverse","value": "1"} + ,{"name": "k_eHiddenAreaMesh_LineLoop","value": "2"} +]} , {"enumname": "vr::EVRControllerAxisType","values": [ {"name": "k_eControllerAxis_None","value": "0"} ,{"name": "k_eControllerAxis_TrackPad","value": "1"} @@ -371,6 +379,8 @@ ,{"name": "VROverlayError_UnableToLoadFile","value": "25"} ,{"name": "VROverlayError_KeyboardAlreadyInUse","value": "26"} ,{"name": "VROverlayError_NoNeighbor","value": "27"} + ,{"name": "VROverlayError_TooManyMaskPrimitives","value": "29"} + ,{"name": "VROverlayError_BadMaskPrimitive","value": "30"} ]} , {"enumname": "vr::EVRApplicationType","values": [ {"name": "VRApplication_Other","value": "0"} @@ -583,6 +593,7 @@ ,{"name": "VRCompositorError_TextureUsesUnsupportedFormat","value": "105"} ,{"name": "VRCompositorError_SharedTexturesNotSupported","value": "106"} ,{"name": "VRCompositorError_IndexOutOfRange","value": "107"} + ,{"name": "VRCompositorError_AlreadySubmitted","value": "108"} ]} , {"enumname": "vr::VROverlayInputMethod","values": [ {"name": "VROverlayInputMethod_None","value": "0"} @@ -627,6 +638,10 @@ ,{"name": "OverlayDirection_Right","value": "3"} ,{"name": "OverlayDirection_Count","value": "4"} ]} +, {"enumname": "vr::EVROverlayIntersectionMaskPrimitiveType","values": [ + {"name": "OverlayIntersectionPrimitiveType_Rectangle","value": "0"} + ,{"name": "OverlayIntersectionPrimitiveType_Circle","value": "1"} +]} , {"enumname": "vr::EVRRenderModelError","values": [ {"name": "VRRenderModelError_None","value": "0"} ,{"name": "VRRenderModelError_Loading","value": "100"} @@ -679,8 +694,6 @@ ]} ], "consts":[{ - "constname": "k_unTrackingStringSize","consttype": "const uint32_t", "constval": "32"} -,{ "constname": "k_unMaxDriverDebugResponseSize","consttype": "const uint32_t", "constval": "32768"} ,{ "constname": "k_unTrackedDeviceIndex_Hmd","consttype": "const uint32_t", "constval": "0"} @@ -699,7 +712,7 @@ ,{ "constname": "k_unScreenshotHandleInvalid","consttype": "const uint32_t", "constval": "0"} ,{ - "constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_012"} + "constname": "IVRSystem_Version","consttype": "const char *const", "constval": "IVRSystem_014"} ,{ "constname": "IVRExtendedDisplay_Version","consttype": "const char *const", "constval": "IVRExtendedDisplay_001"} ,{ @@ -717,13 +730,15 @@ ,{ "constname": "IVRChaperoneSetup_Version","consttype": "const char *const", "constval": "IVRChaperoneSetup_005"} ,{ - "constname": "IVRCompositor_Version","consttype": "const char *const", "constval": "IVRCompositor_016"} + "constname": "IVRCompositor_Version","consttype": "const char *const", "constval": "IVRCompositor_018"} ,{ "constname": "k_unVROverlayMaxKeyLength","consttype": "const uint32_t", "constval": "128"} ,{ "constname": "k_unVROverlayMaxNameLength","consttype": "const uint32_t", "constval": "128"} ,{ "constname": "k_unMaxOverlayCount","consttype": "const uint32_t", "constval": "64"} +,{ + "constname": "k_unMaxOverlayIntersectionMaskPrimitivesCount","consttype": "const uint32_t", "constval": "32"} ,{ "constname": "IVROverlay_Version","consttype": "const char *const", "constval": "IVROverlay_013"} ,{ @@ -772,12 +787,12 @@ "constname": "k_pch_SteamVR_IPD_Float","consttype": "const char *const", "constval": "ipd"} ,{ "constname": "k_pch_SteamVR_Background_String","consttype": "const char *const", "constval": "background"} +,{ + "constname": "k_pch_SteamVR_BackgroundUseDomeProjection_Bool","consttype": "const char *const", "constval": "backgroundUseDomeProjection"} ,{ "constname": "k_pch_SteamVR_BackgroundCameraHeight_Float","consttype": "const char *const", "constval": "backgroundCameraHeight"} ,{ "constname": "k_pch_SteamVR_BackgroundDomeRadius_Float","consttype": "const char *const", "constval": "backgroundDomeRadius"} -,{ - "constname": "k_pch_SteamVR_Environment_String","consttype": "const char *const", "constval": "environment"} ,{ "constname": "k_pch_SteamVR_GridColor_String","consttype": "const char *const", "constval": "gridColor"} ,{ @@ -803,7 +818,9 @@ ,{ "constname": "k_pch_SteamVR_RenderTargetMultiplier_Float","consttype": "const char *const", "constval": "renderTargetMultiplier"} ,{ - "constname": "k_pch_SteamVR_AllowReprojection_Bool","consttype": "const char *const", "constval": "allowReprojection"} + "constname": "k_pch_SteamVR_AllowAsyncReprojection_Bool","consttype": "const char *const", "constval": "allowAsyncReprojection"} +,{ + "constname": "k_pch_SteamVR_AllowReprojection_Bool","consttype": "const char *const", "constval": "allowInterleavedReprojection"} ,{ "constname": "k_pch_SteamVR_ForceReprojection_Bool","consttype": "const char *const", "constval": "forceReprojection"} ,{ @@ -824,6 +841,8 @@ "constname": "k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32","consttype": "const char *const", "constval": "CycleBackgroundImageTimeSec"} ,{ "constname": "k_pch_SteamVR_RetailDemo_Bool","consttype": "const char *const", "constval": "retailDemo"} +,{ + "constname": "k_pch_SteamVR_IpdOffset_Float","consttype": "const char *const", "constval": "ipdOffset"} ,{ "constname": "k_pch_Lighthouse_Section","consttype": "const char *const", "constval": "driver_lighthouse"} ,{ @@ -864,6 +883,8 @@ "constname": "k_pch_UserInterface_Section","consttype": "const char *const", "constval": "userinterface"} ,{ "constname": "k_pch_UserInterface_StatusAlwaysOnTop_Bool","consttype": "const char *const", "constval": "StatusAlwaysOnTop"} +,{ + "constname": "k_pch_UserInterface_MinimizeToTray_Bool","consttype": "const char *const", "constval": "MinimizeToTray"} ,{ "constname": "k_pch_UserInterface_Screenshots_Bool","consttype": "const char *const", "constval": "screenshots"} ,{ @@ -1157,6 +1178,7 @@ { "fieldname": "m_nSize", "fieldtype": "uint32_t"}, { "fieldname": "m_nFrameIndex", "fieldtype": "uint32_t"}, { "fieldname": "m_nNumFramePresents", "fieldtype": "uint32_t"}, +{ "fieldname": "m_nNumMisPresented", "fieldtype": "uint32_t"}, { "fieldname": "m_nNumDroppedFrames", "fieldtype": "uint32_t"}, { "fieldname": "m_nReprojectionFlags", "fieldtype": "uint32_t"}, { "fieldname": "m_flSystemTimeInSeconds", "fieldtype": "double"}, @@ -1202,6 +1224,21 @@ { "fieldname": "vNormal", "fieldtype": "struct vr::HmdVector3_t"}, { "fieldname": "vUVs", "fieldtype": "struct vr::HmdVector2_t"}, { "fieldname": "fDistance", "fieldtype": "float"}]} +,{"struct": "vr::IntersectionMaskRectangle_t","fields": [ +{ "fieldname": "m_flTopLeftX", "fieldtype": "float"}, +{ "fieldname": "m_flTopLeftY", "fieldtype": "float"}, +{ "fieldname": "m_flWidth", "fieldtype": "float"}, +{ "fieldname": "m_flHeight", "fieldtype": "float"}]} +,{"struct": "vr::IntersectionMaskCircle_t","fields": [ +{ "fieldname": "m_flCenterX", "fieldtype": "float"}, +{ "fieldname": "m_flCenterY", "fieldtype": "float"}, +{ "fieldname": "m_flRadius", "fieldtype": "float"}]} +,{"struct": "vr::(anonymous)","fields": [ +{ "fieldname": "m_Rectangle", "fieldtype": "struct vr::IntersectionMaskRectangle_t"}, +{ "fieldname": "m_Circle", "fieldtype": "struct vr::IntersectionMaskCircle_t"}]} +,{"struct": "vr::VROverlayIntersectionMaskPrimitive_t","fields": [ +{ "fieldname": "m_nPrimitiveType", "fieldtype": "enum vr::EVROverlayIntersectionMaskPrimitiveType"}, +{ "fieldname": "m_Primitive", "fieldtype": "VROverlayIntersectionMaskPrimitive_Data_t"}]} ,{"struct": "vr::RenderModel_ComponentState_t","fields": [ { "fieldname": "mTrackingToComponentRenderModel", "fieldtype": "struct vr::HmdMatrix34_t"}, { "fieldname": "mTrackingToComponentLocal", "fieldtype": "struct vr::HmdMatrix34_t"}, @@ -1276,11 +1313,12 @@ ,{ "classname": "vr::IVRSystem", "methodname": "ComputeDistortion", - "returntype": "struct vr::DistortionCoordinates_t", + "returntype": "bool", "params": [ { "paramname": "eEye" ,"paramtype": "vr::EVREye"}, { "paramname": "fU" ,"paramtype": "float"}, -{ "paramname": "fV" ,"paramtype": "float"} +{ "paramname": "fV" ,"paramtype": "float"}, +{ "paramname": "pDistortionCoordinates" ,"paramtype": "struct vr::DistortionCoordinates_t *"} ] } ,{ @@ -1516,7 +1554,8 @@ "methodname": "GetHiddenAreaMesh", "returntype": "struct vr::HiddenAreaMesh_t", "params": [ -{ "paramname": "eEye" ,"paramtype": "vr::EVREye"} +{ "paramname": "eEye" ,"paramtype": "vr::EVREye"}, +{ "paramname": "type" ,"paramtype": "vr::EHiddenAreaMeshType"} ] } ,{ @@ -1525,7 +1564,8 @@ "returntype": "bool", "params": [ { "paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, -{ "paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"} +{ "paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"}, +{ "paramname": "unControllerStateSize" ,"paramtype": "uint32_t"} ] } ,{ @@ -1536,6 +1576,7 @@ { "paramname": "eOrigin" ,"paramtype": "vr::ETrackingUniverseOrigin"}, { "paramname": "unControllerDeviceIndex" ,"paramtype": "vr::TrackedDeviceIndex_t"}, { "paramname": "pControllerState" ,"paramtype": "vr::VRControllerState_t *"}, +{ "paramname": "unControllerStateSize" ,"paramtype": "uint32_t"}, { "paramname": "pTrackedDevicePose" ,"paramtype": "struct vr::TrackedDevicePose_t *"} ] } @@ -2333,6 +2374,15 @@ { "paramname": "unFramesAgo" ,"paramtype": "uint32_t"} ] } +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetFrameTimings", + "returntype": "uint32_t", + "params": [ +{ "paramname": "pTiming" ,"paramtype": "struct vr::Compositor_FrameTiming *"}, +{ "paramname": "nFrames" ,"paramtype": "uint32_t"} + ] +} ,{ "classname": "vr::IVRCompositor", "methodname": "GetFrameTimeRemaining", @@ -2360,6 +2410,14 @@ { "paramname": "bBackground" ,"paramtype": "bool"} ] } +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetCurrentFadeColor", + "returntype": "struct vr::HmdColor_t", + "params": [ +{ "paramname": "bBackground" ,"paramtype": "bool"} + ] +} ,{ "classname": "vr::IVRCompositor", "methodname": "FadeGrid", @@ -2369,6 +2427,11 @@ { "paramname": "bFadeIn" ,"paramtype": "bool"} ] } +,{ + "classname": "vr::IVRCompositor", + "methodname": "GetCurrentGridAlpha", + "returntype": "float" +} ,{ "classname": "vr::IVRCompositor", "methodname": "SetSkyboxOverride", @@ -3176,6 +3239,17 @@ { "paramname": "avoidRect" ,"paramtype": "struct vr::HmdRect2_t"} ] } +,{ + "classname": "vr::IVROverlay", + "methodname": "SetOverlayIntersectionMask", + "returntype": "vr::EVROverlayError", + "params": [ +{ "paramname": "ulOverlayHandle" ,"paramtype": "vr::VROverlayHandle_t"}, +{ "paramname": "pMaskPrimitives" ,"paramtype": "struct vr::VROverlayIntersectionMaskPrimitive_t *"}, +{ "paramname": "unNumMaskPrimitives" ,"paramtype": "uint32_t"}, +{ "paramname": "unPrimitiveSize" ,"paramtype": "uint32_t"} + ] +} ,{ "classname": "vr::IVRRenderModels", "methodname": "LoadRenderModel_Async", diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h b/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h index fae48f88c..6ecbffd0b 100644 --- a/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h +++ b/examples/ThirdPartyLibs/openvr/headers/openvr_capi.h @@ -46,12 +46,13 @@ #if defined( __WIN32 ) typedef char bool; +#else +#include #endif // OpenVR Constants -static const unsigned int k_unTrackingStringSize = 32; static const unsigned int k_unMaxDriverDebugResponseSize = 32768; static const unsigned int k_unTrackedDeviceIndex_Hmd = 0; static const unsigned int k_unMaxTrackedDeviceCount = 16; @@ -61,7 +62,7 @@ static const unsigned int k_unMaxPropertyStringSize = 32768; static const unsigned int k_unControllerStateAxisCount = 5; static const unsigned long k_ulOverlayHandleInvalid = 0; static const unsigned int k_unScreenshotHandleInvalid = 0; -static const char * IVRSystem_Version = "IVRSystem_012"; +static const char * IVRSystem_Version = "IVRSystem_014"; static const char * IVRExtendedDisplay_Version = "IVRExtendedDisplay_001"; static const char * IVRTrackedCamera_Version = "IVRTrackedCamera_003"; static const unsigned int k_unMaxApplicationKeyLength = 128; @@ -70,10 +71,11 @@ static const char * k_pch_MimeType_GameTheater = "vr/game_theater"; static const char * IVRApplications_Version = "IVRApplications_006"; static const char * IVRChaperone_Version = "IVRChaperone_003"; static const char * IVRChaperoneSetup_Version = "IVRChaperoneSetup_005"; -static const char * IVRCompositor_Version = "IVRCompositor_016"; +static const char * IVRCompositor_Version = "IVRCompositor_018"; static const unsigned int k_unVROverlayMaxKeyLength = 128; static const unsigned int k_unVROverlayMaxNameLength = 128; static const unsigned int k_unMaxOverlayCount = 64; +static const unsigned int k_unMaxOverlayIntersectionMaskPrimitivesCount = 32; static const char * IVROverlay_Version = "IVROverlay_013"; static const char * k_pch_Controller_Component_GDC2015 = "gdc2015"; static const char * k_pch_Controller_Component_Base = "base"; @@ -98,9 +100,9 @@ static const char * k_pch_SteamVR_SendSystemButtonToAllApps_Bool = "sendSystemBu static const char * k_pch_SteamVR_LogLevel_Int32 = "loglevel"; static const char * k_pch_SteamVR_IPD_Float = "ipd"; static const char * k_pch_SteamVR_Background_String = "background"; +static const char * k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection"; static const char * k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight"; static const char * k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius"; -static const char * k_pch_SteamVR_Environment_String = "environment"; static const char * k_pch_SteamVR_GridColor_String = "gridColor"; static const char * k_pch_SteamVR_PlayAreaColor_String = "playAreaColor"; static const char * k_pch_SteamVR_ShowStage_Bool = "showStage"; @@ -113,7 +115,8 @@ static const char * k_pch_SteamVR_SpeakersForwardYawOffsetDegrees_Float = "speak static const char * k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement"; static const char * k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses"; static const char * k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier"; -static const char * k_pch_SteamVR_AllowReprojection_Bool = "allowReprojection"; +static const char * k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection"; +static const char * k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection"; static const char * k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection"; static const char * k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking"; static const char * k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView"; @@ -124,6 +127,7 @@ static const char * k_pch_SteamVR_EnableHomeApp = "enableHomeApp"; static const char * k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp"; static const char * k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec"; static const char * k_pch_SteamVR_RetailDemo_Bool = "retailDemo"; +static const char * k_pch_SteamVR_IpdOffset_Float = "ipdOffset"; static const char * k_pch_Lighthouse_Section = "driver_lighthouse"; static const char * k_pch_Lighthouse_DisableIMU_Bool = "disableimu"; static const char * k_pch_Lighthouse_UseDisambiguation_String = "usedisambiguation"; @@ -144,6 +148,7 @@ static const char * k_pch_Null_SecondsFromVsyncToPhotons_Float = "secondsFromVsy static const char * k_pch_Null_DisplayFrequency_Float = "displayFrequency"; static const char * k_pch_UserInterface_Section = "userinterface"; static const char * k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop"; +static const char * k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray"; static const char * k_pch_UserInterface_Screenshots_Bool = "screenshots"; static const char * k_pch_UserInterface_ScreenshotType_Int = "screenshotType"; static const char * k_pch_Notifications_Section = "notifications"; @@ -292,6 +297,7 @@ typedef enum ETrackedDeviceProperty ETrackedDeviceProperty_Prop_HasCamera_Bool = 1030, ETrackedDeviceProperty_Prop_DriverVersion_String = 1031, ETrackedDeviceProperty_Prop_Firmware_ForceUpdateRequired_Bool = 1032, + ETrackedDeviceProperty_Prop_ViveSystemButtonFixRequired_Bool = 1033, ETrackedDeviceProperty_Prop_ReportsTimeSinceVSync_Bool = 2000, ETrackedDeviceProperty_Prop_SecondsFromVsyncToPhotons_Float = 2001, ETrackedDeviceProperty_Prop_DisplayFrequency_Float = 2002, @@ -329,6 +335,7 @@ typedef enum ETrackedDeviceProperty ETrackedDeviceProperty_Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034, ETrackedDeviceProperty_Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035, ETrackedDeviceProperty_Prop_DisplaySuppressed_Bool = 2036, + ETrackedDeviceProperty_Prop_DisplayAllowNightMode_Bool = 2037, ETrackedDeviceProperty_Prop_AttachedDeviceId_String = 3000, ETrackedDeviceProperty_Prop_SupportedButtons_Uint64 = 3001, ETrackedDeviceProperty_Prop_Axis0Type_Int32 = 3002, @@ -539,6 +546,13 @@ typedef enum EVRMouseButton EVRMouseButton_VRMouseButton_Middle = 4, } EVRMouseButton; +typedef enum EHiddenAreaMeshType +{ + EHiddenAreaMeshType_k_eHiddenAreaMesh_Standard = 0, + EHiddenAreaMeshType_k_eHiddenAreaMesh_Inverse = 1, + EHiddenAreaMeshType_k_eHiddenAreaMesh_LineLoop = 2, +} EHiddenAreaMeshType; + typedef enum EVRControllerAxisType { EVRControllerAxisType_k_eControllerAxis_None = 0, @@ -584,6 +598,8 @@ typedef enum EVROverlayError EVROverlayError_VROverlayError_UnableToLoadFile = 25, EVROverlayError_VROverlayError_KeyboardAlreadyInUse = 26, EVROverlayError_VROverlayError_NoNeighbor = 27, + EVROverlayError_VROverlayError_TooManyMaskPrimitives = 29, + EVROverlayError_VROverlayError_BadMaskPrimitive = 30, } EVROverlayError; typedef enum EVRApplicationType @@ -826,6 +842,7 @@ typedef enum EVRCompositorError EVRCompositorError_VRCompositorError_TextureUsesUnsupportedFormat = 105, EVRCompositorError_VRCompositorError_SharedTexturesNotSupported = 106, EVRCompositorError_VRCompositorError_IndexOutOfRange = 107, + EVRCompositorError_VRCompositorError_AlreadySubmitted = 108, } EVRCompositorError; typedef enum VROverlayInputMethod @@ -883,6 +900,12 @@ typedef enum EOverlayDirection EOverlayDirection_OverlayDirection_Count = 4, } EOverlayDirection; +typedef enum EVROverlayIntersectionMaskPrimitiveType +{ + EVROverlayIntersectionMaskPrimitiveType_OverlayIntersectionPrimitiveType_Rectangle = 0, + EVROverlayIntersectionMaskPrimitiveType_OverlayIntersectionPrimitiveType_Circle = 1, +} EVROverlayIntersectionMaskPrimitiveType; + typedef enum EVRRenderModelError { EVRRenderModelError_VRRenderModelError_None = 0, @@ -1251,6 +1274,7 @@ typedef struct Compositor_FrameTiming uint32_t m_nSize; uint32_t m_nFrameIndex; uint32_t m_nNumFramePresents; + uint32_t m_nNumMisPresented; uint32_t m_nNumDroppedFrames; uint32_t m_nReprojectionFlags; double m_flSystemTimeInSeconds; @@ -1307,6 +1331,21 @@ typedef struct VROverlayIntersectionResults_t float fDistance; } VROverlayIntersectionResults_t; +typedef struct IntersectionMaskRectangle_t +{ + float m_flTopLeftX; + float m_flTopLeftY; + float m_flWidth; + float m_flHeight; +} IntersectionMaskRectangle_t; + +typedef struct IntersectionMaskCircle_t +{ + float m_flCenterX; + float m_flCenterY; + float m_flRadius; +} IntersectionMaskCircle_t; + typedef struct RenderModel_ComponentState_t { struct HmdMatrix34_t mTrackingToComponentRenderModel; @@ -1396,6 +1435,19 @@ struct VREvent_t }; +typedef union +{ + IntersectionMaskRectangle_t m_Rectangle; + IntersectionMaskCircle_t m_Circle; +} VROverlayIntersectionMaskPrimitive_Data_t; + +struct VROverlayIntersectionMaskPrimitive_t +{ + EVROverlayIntersectionMaskPrimitiveType m_nPrimitiveType; + VROverlayIntersectionMaskPrimitive_Data_t m_Primitive; +}; + + // OpenVR Function Pointer Tables struct VR_IVRSystem_FnTable @@ -1403,7 +1455,7 @@ struct VR_IVRSystem_FnTable void (OPENVR_FNTABLE_CALLTYPE *GetRecommendedRenderTargetSize)(uint32_t * pnWidth, uint32_t * pnHeight); struct HmdMatrix44_t (OPENVR_FNTABLE_CALLTYPE *GetProjectionMatrix)(EVREye eEye, float fNearZ, float fFarZ, EGraphicsAPIConvention eProjType); void (OPENVR_FNTABLE_CALLTYPE *GetProjectionRaw)(EVREye eEye, float * pfLeft, float * pfRight, float * pfTop, float * pfBottom); - struct DistortionCoordinates_t (OPENVR_FNTABLE_CALLTYPE *ComputeDistortion)(EVREye eEye, float fU, float fV); + bool (OPENVR_FNTABLE_CALLTYPE *ComputeDistortion)(EVREye eEye, float fU, float fV, struct DistortionCoordinates_t * pDistortionCoordinates); struct HmdMatrix34_t (OPENVR_FNTABLE_CALLTYPE *GetEyeToHeadTransform)(EVREye eEye); bool (OPENVR_FNTABLE_CALLTYPE *GetTimeSinceLastVsync)(float * pfSecondsSinceLastVsync, uint64_t * pulFrameCounter); int32_t (OPENVR_FNTABLE_CALLTYPE *GetD3D9AdapterIndex)(); @@ -1431,9 +1483,9 @@ struct VR_IVRSystem_FnTable bool (OPENVR_FNTABLE_CALLTYPE *PollNextEvent)(struct VREvent_t * pEvent, uint32_t uncbVREvent); bool (OPENVR_FNTABLE_CALLTYPE *PollNextEventWithPose)(ETrackingUniverseOrigin eOrigin, struct VREvent_t * pEvent, uint32_t uncbVREvent, TrackedDevicePose_t * pTrackedDevicePose); char * (OPENVR_FNTABLE_CALLTYPE *GetEventTypeNameFromEnum)(EVREventType eType); - struct HiddenAreaMesh_t (OPENVR_FNTABLE_CALLTYPE *GetHiddenAreaMesh)(EVREye eEye); - bool (OPENVR_FNTABLE_CALLTYPE *GetControllerState)(TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState); - bool (OPENVR_FNTABLE_CALLTYPE *GetControllerStateWithPose)(ETrackingUniverseOrigin eOrigin, TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, struct TrackedDevicePose_t * pTrackedDevicePose); + struct HiddenAreaMesh_t (OPENVR_FNTABLE_CALLTYPE *GetHiddenAreaMesh)(EVREye eEye, EHiddenAreaMeshType type); + bool (OPENVR_FNTABLE_CALLTYPE *GetControllerState)(TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, uint32_t unControllerStateSize); + bool (OPENVR_FNTABLE_CALLTYPE *GetControllerStateWithPose)(ETrackingUniverseOrigin eOrigin, TrackedDeviceIndex_t unControllerDeviceIndex, VRControllerState_t * pControllerState, uint32_t unControllerStateSize, struct TrackedDevicePose_t * pTrackedDevicePose); void (OPENVR_FNTABLE_CALLTYPE *TriggerHapticPulse)(TrackedDeviceIndex_t unControllerDeviceIndex, uint32_t unAxisId, unsigned short usDurationMicroSec); char * (OPENVR_FNTABLE_CALLTYPE *GetButtonIdNameFromEnum)(EVRButtonId eButtonId); char * (OPENVR_FNTABLE_CALLTYPE *GetControllerAxisTypeNameFromEnum)(EVRControllerAxisType eAxisType); @@ -1550,10 +1602,13 @@ struct VR_IVRCompositor_FnTable void (OPENVR_FNTABLE_CALLTYPE *ClearLastSubmittedFrame)(); void (OPENVR_FNTABLE_CALLTYPE *PostPresentHandoff)(); bool (OPENVR_FNTABLE_CALLTYPE *GetFrameTiming)(struct Compositor_FrameTiming * pTiming, uint32_t unFramesAgo); + uint32_t (OPENVR_FNTABLE_CALLTYPE *GetFrameTimings)(struct Compositor_FrameTiming * pTiming, uint32_t nFrames); float (OPENVR_FNTABLE_CALLTYPE *GetFrameTimeRemaining)(); void (OPENVR_FNTABLE_CALLTYPE *GetCumulativeStats)(struct Compositor_CumulativeStats * pStats, uint32_t nStatsSizeInBytes); void (OPENVR_FNTABLE_CALLTYPE *FadeToColor)(float fSeconds, float fRed, float fGreen, float fBlue, float fAlpha, bool bBackground); + struct HmdColor_t (OPENVR_FNTABLE_CALLTYPE *GetCurrentFadeColor)(bool bBackground); void (OPENVR_FNTABLE_CALLTYPE *FadeGrid)(float fSeconds, bool bFadeIn); + float (OPENVR_FNTABLE_CALLTYPE *GetCurrentGridAlpha)(); EVRCompositorError (OPENVR_FNTABLE_CALLTYPE *SetSkyboxOverride)(struct Texture_t * pTextures, uint32_t unTextureCount); void (OPENVR_FNTABLE_CALLTYPE *ClearSkyboxOverride)(); void (OPENVR_FNTABLE_CALLTYPE *CompositorBringToFront)(); @@ -1652,6 +1707,7 @@ struct VR_IVROverlay_FnTable void (OPENVR_FNTABLE_CALLTYPE *HideKeyboard)(); void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardTransformAbsolute)(ETrackingUniverseOrigin eTrackingOrigin, struct HmdMatrix34_t * pmatTrackingOriginToKeyboardTransform); void (OPENVR_FNTABLE_CALLTYPE *SetKeyboardPositionForOverlay)(VROverlayHandle_t ulOverlayHandle, struct HmdRect2_t avoidRect); + EVROverlayError (OPENVR_FNTABLE_CALLTYPE *SetOverlayIntersectionMask)(VROverlayHandle_t ulOverlayHandle, struct VROverlayIntersectionMaskPrimitive_t * pMaskPrimitives, uint32_t unNumMaskPrimitives, uint32_t unPrimitiveSize); }; struct VR_IVRRenderModels_FnTable diff --git a/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h b/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h index 643c1172c..ae778b877 100644 --- a/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h +++ b/examples/ThirdPartyLibs/openvr/headers/openvr_driver.h @@ -146,7 +146,6 @@ enum ETrackingResult TrackingResult_Running_OutOfRange = 201, }; -static const uint32_t k_unTrackingStringSize = 32; static const uint32_t k_unMaxDriverDebugResponseSize = 32768; /** Used to pass device IDs to API calls */ @@ -241,6 +240,7 @@ enum ETrackedDeviceProperty Prop_HasCamera_Bool = 1030, Prop_DriverVersion_String = 1031, Prop_Firmware_ForceUpdateRequired_Bool = 1032, + Prop_ViveSystemButtonFixRequired_Bool = 1033, // Properties that are unique to TrackedDeviceClass_HMD Prop_ReportsTimeSinceVSync_Bool = 2000, @@ -280,6 +280,7 @@ enum ETrackedDeviceProperty Prop_ScreenshotHorizontalFieldOfViewDegrees_Float = 2034, Prop_ScreenshotVerticalFieldOfViewDegrees_Float = 2035, Prop_DisplaySuppressed_Bool = 2036, + Prop_DisplayAllowNightMode_Bool = 2037, // Properties that are unique to TrackedDeviceClass_Controller Prop_AttachedDeviceId_String = 3000, @@ -702,7 +703,7 @@ struct VREvent_EditingCameraSurface_t uint32_t nVisualMode; }; -/** If you change this you must manually update openvr_interop.cs.py */ +/** NOTE!!! If you change this you MUST manually update openvr_interop.cs.py */ typedef union { VREvent_Reserved_t reserved; @@ -749,6 +750,14 @@ struct HiddenAreaMesh_t }; +enum EHiddenAreaMeshType +{ + k_eHiddenAreaMesh_Standard = 0, + k_eHiddenAreaMesh_Inverse = 1, + k_eHiddenAreaMesh_LineLoop = 2, +}; + + /** Identifies what kind of axis is on the controller at index n. Read this type * with pVRSystem->Get( nControllerDeviceIndex, Prop_Axis0Type_Int32 + n ); */ @@ -832,26 +841,28 @@ static const VROverlayHandle_t k_ulOverlayHandleInvalid = 0; /** Errors that can occur around VR overlays */ enum EVROverlayError { - VROverlayError_None = 0, + VROverlayError_None = 0, - VROverlayError_UnknownOverlay = 10, - VROverlayError_InvalidHandle = 11, - VROverlayError_PermissionDenied = 12, - VROverlayError_OverlayLimitExceeded = 13, // No more overlays could be created because the maximum number already exist - VROverlayError_WrongVisibilityType = 14, - VROverlayError_KeyTooLong = 15, - VROverlayError_NameTooLong = 16, - VROverlayError_KeyInUse = 17, - VROverlayError_WrongTransformType = 18, - VROverlayError_InvalidTrackedDevice = 19, - VROverlayError_InvalidParameter = 20, - VROverlayError_ThumbnailCantBeDestroyed = 21, - VROverlayError_ArrayTooSmall = 22, - VROverlayError_RequestFailed = 23, - VROverlayError_InvalidTexture = 24, - VROverlayError_UnableToLoadFile = 25, - VROverlayError_KeyboardAlreadyInUse = 26, - VROverlayError_NoNeighbor = 27, + VROverlayError_UnknownOverlay = 10, + VROverlayError_InvalidHandle = 11, + VROverlayError_PermissionDenied = 12, + VROverlayError_OverlayLimitExceeded = 13, // No more overlays could be created because the maximum number already exist + VROverlayError_WrongVisibilityType = 14, + VROverlayError_KeyTooLong = 15, + VROverlayError_NameTooLong = 16, + VROverlayError_KeyInUse = 17, + VROverlayError_WrongTransformType = 18, + VROverlayError_InvalidTrackedDevice = 19, + VROverlayError_InvalidParameter = 20, + VROverlayError_ThumbnailCantBeDestroyed = 21, + VROverlayError_ArrayTooSmall = 22, + VROverlayError_RequestFailed = 23, + VROverlayError_InvalidTexture = 24, + VROverlayError_UnableToLoadFile = 25, + VROverlayError_KeyboardAlreadyInUse = 26, + VROverlayError_NoNeighbor = 27, + VROverlayError_TooManyMaskPrimitives = 29, + VROverlayError_BadMaskPrimitive = 30, }; /** enum values to pass in to VR_Init to identify whether the application will @@ -1260,9 +1271,9 @@ namespace vr static const char * const k_pch_SteamVR_LogLevel_Int32 = "loglevel"; static const char * const k_pch_SteamVR_IPD_Float = "ipd"; static const char * const k_pch_SteamVR_Background_String = "background"; + static const char * const k_pch_SteamVR_BackgroundUseDomeProjection_Bool = "backgroundUseDomeProjection"; static const char * const k_pch_SteamVR_BackgroundCameraHeight_Float = "backgroundCameraHeight"; static const char * const k_pch_SteamVR_BackgroundDomeRadius_Float = "backgroundDomeRadius"; - static const char * const k_pch_SteamVR_Environment_String = "environment"; static const char * const k_pch_SteamVR_GridColor_String = "gridColor"; static const char * const k_pch_SteamVR_PlayAreaColor_String = "playAreaColor"; static const char * const k_pch_SteamVR_ShowStage_Bool = "showStage"; @@ -1275,7 +1286,8 @@ namespace vr static const char * const k_pch_SteamVR_BaseStationPowerManagement_Bool = "basestationPowerManagement"; static const char * const k_pch_SteamVR_NeverKillProcesses_Bool = "neverKillProcesses"; static const char * const k_pch_SteamVR_RenderTargetMultiplier_Float = "renderTargetMultiplier"; - static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowReprojection"; + static const char * const k_pch_SteamVR_AllowAsyncReprojection_Bool = "allowAsyncReprojection"; + static const char * const k_pch_SteamVR_AllowReprojection_Bool = "allowInterleavedReprojection"; static const char * const k_pch_SteamVR_ForceReprojection_Bool = "forceReprojection"; static const char * const k_pch_SteamVR_ForceFadeOnBadTracking_Bool = "forceFadeOnBadTracking"; static const char * const k_pch_SteamVR_DefaultMirrorView_Int32 = "defaultMirrorView"; @@ -1286,6 +1298,7 @@ namespace vr static const char * const k_pch_SteamVR_SetInitialDefaultHomeApp = "setInitialDefaultHomeApp"; static const char * const k_pch_SteamVR_CycleBackgroundImageTimeSec_Int32 = "CycleBackgroundImageTimeSec"; static const char * const k_pch_SteamVR_RetailDemo_Bool = "retailDemo"; + static const char * const k_pch_SteamVR_IpdOffset_Float = "ipdOffset"; //----------------------------------------------------------------------------- @@ -1319,6 +1332,7 @@ namespace vr // user interface keys static const char * const k_pch_UserInterface_Section = "userinterface"; static const char * const k_pch_UserInterface_StatusAlwaysOnTop_Bool = "StatusAlwaysOnTop"; + static const char * const k_pch_UserInterface_MinimizeToTray_Bool = "MinimizeToTray"; static const char * const k_pch_UserInterface_Screenshots_Bool = "screenshots"; static const char * const k_pch_UserInterface_ScreenshotType_Int = "screenshotType"; @@ -1542,9 +1556,8 @@ public: /** Returns a string property. If the property is not available this function will return 0 and pError will be * set to an error. Otherwise it returns the length of the number of bytes necessary to hold this string including - * the trailing null. If the buffer is too small the error will be TrackedProp_BufferTooSmall. Strings will - * generally fit in buffers of k_unTrackingStringSize characters. Drivers may not return strings longer than - * k_unMaxPropertyStringSize. */ + * the trailing null. If the buffer is too small the error will be TrackedProp_BufferTooSmall. Drivers may not + * return strings longer than k_unMaxPropertyStringSize. */ virtual uint32_t GetStringTrackedDeviceProperty( ETrackedDeviceProperty prop, char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError ) = 0; }; @@ -1786,6 +1799,10 @@ public: /** Returns true if SteamVR is exiting */ virtual bool IsExiting() = 0; + + /** Returns true and fills the event with the next event on the queue if there is one. If there are no events + * this method returns false. uncbVREvent should be the size in bytes of the VREvent_t struct */ + virtual bool PollNextEvent( VREvent_t *pEvent, uint32_t uncbVREvent ) = 0; }; @@ -1876,7 +1893,7 @@ public: virtual uint32_t GetStringTrackedDeviceProperty( vr::TrackedDeviceIndex_t unDeviceIndex, ETrackedDeviceProperty prop, char *pchValue, uint32_t unBufferSize, ETrackedPropertyError *pError = 0L ) = 0; /** always returns a pointer to a valid interface pointer of IVRSettings */ - virtual IVRSettings *GetSettings( const char *pchInterfaceVersion ) = 0; + virtual void *GetGenericInterface( const char *pchInterfaceVersion ) = 0; /** Client drivers in watchdog mode should call this when they have received a signal from hardware that should * cause SteamVR to start */ @@ -1927,14 +1944,14 @@ public: * This will improve perf by letting the GPU early-reject pixels the user will never see before running the pixel shader. * NOTE: Render this mesh with backface culling disabled since the winding order of the vertices can be different per-HMD or per-eye. */ - virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye ) = 0; + virtual HiddenAreaMesh_t GetHiddenAreaMesh( EVREye eEye, EHiddenAreaMeshType type ) = 0; /** Get the MC image for the current HMD. * Returns the size in bytes of the buffer required to hold the specified resource. */ virtual uint32_t GetMCImage( uint32_t *pImgWidth, uint32_t *pImgHeight, uint32_t *pChannels, void *pDataBuffer, uint32_t unBufferLen ) = 0; }; -static const char *IClientTrackedDeviceProvider_Version = "IClientTrackedDeviceProvider_004"; +static const char *IClientTrackedDeviceProvider_Version = "IClientTrackedDeviceProvider_005"; } diff --git a/examples/ThirdPartyLibs/openvr/lib/linux64/libopenvr_api.so b/examples/ThirdPartyLibs/openvr/lib/linux64/libopenvr_api.so index d8ddc31c6525bc4097346e18986ee2aa1e8b4491..d3b8cc7645f56ac45f0d56eccc21d8a9bb43d3e0 100644 GIT binary patch literal 3158647 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