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b3CreateBoxCommandSetColorRGBA: allow to specify color when creating bodies through shared memory API

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Parse and use colors from URDF file (single rgba color per link, not per visual)
Rename btMultiBody 'stepVelocities' to 'computeAccelerationsArticulatedBodyAlgorithmMultiDof'
btHashMap, add const Value* operator[]
remove a few more obsolete btMultiBody methods (on the non-multi-dof path)
fix spelling typo in fillConstraintJacobianMultiDof (fil -> fill)
Add mention to Jakub Stepien for his work on btMultiBody
This commit is contained in:
erwincoumans
2015-11-06 17:11:15 -08:00
parent 8160354d02
commit 3b9b803683
16 changed files with 96 additions and 588 deletions
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27
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -37,7 +37,7 @@ struct BulletURDFInternalData
UrdfParser m_urdfParser;
struct GUIHelperInterface* m_guiHelper;
char m_pathPrefix[1024];
btHashMap<btHashInt,btVector4> m_linkColors;
};
void BulletURDFImporter::printTree()
@@ -96,6 +96,8 @@ struct BulletErrorLogger : public ErrorLogger
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
{
m_data->m_linkColors.clear();
//int argc=0;
char relativeFileName[1024];
@@ -172,6 +174,17 @@ void BulletURDFImporter::getLinkChildIndices(int linkIndex, btAlignedObjectArray
}
}
bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{
btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
if (rgbaPtr)
{
colorRGBA = *rgbaPtr;
return true;
}
return false;
}
std::string BulletURDFImporter::getLinkName(int linkIndex) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
@@ -852,8 +865,18 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
for (int v = 0; v < link->m_visualArray.size();v++)
{
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName];
if (matPtr)
{
UrdfMaterial *const mat = *matPtr;
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
convertURDFToVisualShape(&vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
}
}
#endif

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -27,6 +27,8 @@ public:
virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
virtual std::string getLinkName(int linkIndex) const;
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
virtual std::string getJointName(int linkIndex) const;

6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -24,7 +24,7 @@ static btVector4 colors[4] =
};
static btVector3 selectColor2()
static btVector4 selectColor2()
{
static int curColor = 0;
@@ -371,8 +371,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector3 color = selectColor2();//(0.0,0.0,0.5);
btVector4 color = selectColor2();//(0.0,0.0,0.5);
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
btScalar friction = 0.5f;

2
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -24,6 +24,8 @@ public:
///pure virtual interfaces, precondition is a valid linkIndex (you can assert/terminate if the linkIndex is out of range)
virtual std::string getLinkName(int linkIndex) const =0;
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const { return false;}
virtual std::string getJointName(int linkIndex) const = 0;

4
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -346,6 +346,8 @@ bool UrdfParser::parseVisual(UrdfVisual& visual, TiXmlElement* config, ErrorLogg
{
if (parseMaterial(visual.m_localMaterial, mat,logger))
{
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_localMaterial);
m_model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_hasLocalMaterial = true;
}
}
@@ -786,7 +788,7 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
for (int i=0;i<link->m_visualArray.size();i++)
{
UrdfVisual& vis = link->m_visualArray.at(i);
if (!vis.m_hasLocalMaterial)
if (!vis.m_hasLocalMaterial && vis.m_materialName.c_str())
{
UrdfMaterial** mat = m_model.m_materials.find(vis.m_materialName.c_str());
if (mat && *mat)

12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -284,6 +284,18 @@ int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandH
return 0;
}
int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_BOX_COLLISION_SHAPE);
command->m_updateFlags |=BOX_SHAPE_HAS_COLOR;
command->m_createBoxShapeArguments.m_colorRGBA[0] = red;
command->m_createBoxShapeArguments.m_colorRGBA[1] = green;
command->m_createBoxShapeArguments.m_colorRGBA[2] = blue;
command->m_createBoxShapeArguments.m_colorRGBA[3] = alpha;
return 0;
}
int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHandle, double startOrnX,double startOrnY,double startOrnZ, double startOrnW)
{

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -94,6 +94,7 @@ int b3CreateBoxCommandSetStartOrientation(b3SharedMemoryCommandHandle commandHan
int b3CreateBoxCommandSetHalfExtents(b3SharedMemoryCommandHandle commandHandle, double halfExtentsX,double halfExtentsY,double halfExtentsZ);
int b3CreateBoxCommandSetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
int b3CreateBoxCommandSetCollisionShapeType(b3SharedMemoryCommandHandle commandHandle, int collisionShapeType);
int b3CreateBoxCommandSetColorRGBA(b3SharedMemoryCommandHandle commandHandle, double red,double green,double blue, double alpha);
///Initialize (teleport) the pose of a body/robot. You can individually set the base position, base orientation and joint angles.

2
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -211,6 +211,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
{
b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,-3);
b3CreateBoxCommandSetColorRGBA(commandHandle,0,0,1,1);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@@ -220,6 +221,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3CreateBoxCommandSetStartPosition(commandHandle,0,0,0);
b3CreateBoxCommandSetMass(commandHandle,1);
b3CreateBoxCommandSetCollisionShapeType(commandHandle,COLLISION_SHAPE_TYPE_CYLINDER_Y);
b3CreateBoxCommandSetColorRGBA(commandHandle,1,1,0,1);
double radius = 0.2;
double halfHeight = 0.5;
b3CreateBoxCommandSetHalfExtents(commandHandle,radius,halfHeight,radius);

12
examples/SharedMemory/PhysicsServer.cpp
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@@ -1684,7 +1684,17 @@ void PhysicsServerSharedMemory::processClientCommands()
bool isDynamic = (mass>0);
btRigidBody* rb = worldImporter->createRigidBody(isDynamic,mass,startTrans,shape,0);
rb->setRollingFriction(0.2);
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
//m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
btVector4 colorRGBA(1,0,0,1);
if (clientCmd.m_updateFlags & BOX_SHAPE_HAS_COLOR)
{
colorRGBA[0] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[0];
colorRGBA[1] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[1];
colorRGBA[2] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[2];
colorRGBA[3] = clientCmd.m_createBoxShapeArguments.m_colorRGBA[3];
}
m_data->m_guiHelper->createCollisionShapeGraphicsObject(rb->getCollisionShape());
m_data->m_guiHelper->createCollisionObjectGraphicsObject(rb,colorRGBA);
SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_RIGID_BODY_CREATION_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
int bodyUniqueId = m_data->allocHandle();

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -205,6 +205,7 @@ enum EnumBoxShapeFlags
BOX_SHAPE_HAS_HALF_EXTENTS=4,
BOX_SHAPE_HAS_MASS=8,
BOX_SHAPE_HAS_COLLISION_SHAPE_TYPE=16,
BOX_SHAPE_HAS_COLOR=32,
};
///This command will be replaced to allow arbitrary collision shape types
struct CreateBoxShapeArgs
@@ -218,6 +219,7 @@ struct CreateBoxShapeArgs
double m_initialPosition[3];
double m_initialOrientation[4];
double m_colorRGBA[4];
};
struct SharedMemoryCommand