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yunfeibai
2016-10-17 13:20:31 -07:00
parent 14fc8ae8c2 292dd5ced4
commit 3ffd95fbab
32 changed files with 922 additions and 107 deletions
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13
README.md
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@@ -2,10 +2,11 @@
[![Travis Build Status](https://api.travis-ci.org/bulletphysics/bullet3.png?branch=master)](https://travis-ci.org/bulletphysics/bullet3)
[![Appveyor Build status](https://ci.appveyor.com/api/projects/status/6sly9uxajr6xsstq)](https://ci.appveyor.com/project/erwincoumans/bullet3)
# Bullet 2.x including pybullet, Virtual Reality support
# Bullet Physics SDK
This is the official repository of Bullet 2.x, moved from http://bullet.googlecode.com
It includes the optional experimental Bullet 3 GPU pipeline.
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.
New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR
The Bullet 2 API will stay default and up-to-date while slowly moving to a new API.
The steps towards a new API is in a nutshell:
@@ -28,9 +29,9 @@ Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical d
https://docs.google.com/document/d/1u9vyzPtrVoVhYqQOGNWUgjRbfwfCdIts_NzmvgiJ144/edit
## Requirements for Bullet 3
## Requirements for experimental OpenCL GPGPU support
The entire collision detection and rigid body dynamics is executed on the GPU.
The entire collision detection and rigid body dynamics can be executed on the GPU.
A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better.
We succesfully tested the software under Windows, Linux and Mac OSX.
@@ -103,4 +104,4 @@ You can just run it though a terminal/command prompt, or by clicking it.
You can use mouse picking to grab objects. When holding the ALT or CONTROL key, you have Maya style camera mouse controls.
Press F1 to create a series of screenshots. Hit ESCAPE to exit the demo app.
See docs folder for further information.
Check out the docs folder and the Bullet physics forums for further information.

1
examples/BasicDemo/BasicExample.cpp
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@@ -14,7 +14,6 @@ subject to the following restrictions:
*/
#include "BasicExample.h"
#include "btBulletDynamicsCommon.h"

10
examples/CommonInterfaces/CommonRigidBodyBase.h
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@@ -446,9 +446,15 @@ struct CommonRigidBodyBase : public CommonExampleInterface
virtual void renderScene()
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
}
m_guiHelper->render(m_dynamicsWorld);
{
m_guiHelper->render(m_dynamicsWorld);
}
}
};

8
examples/ExampleBrowser/CMakeLists.txt
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@@ -131,7 +131,7 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/TinyRendererVisualShapeConverter.h
../SharedMemory/IKTrajectoryHelper.cpp
../SharedMemory/IKTrajectoryHelper.h
../RenderingExamples/TinyRendererSetup.cpp
../SharedMemory/PhysicsServer.cpp
../SharedMemory/PhysicsClientSharedMemory.cpp
../SharedMemory/PhysicsClient.cpp
@@ -208,10 +208,16 @@ SET(BulletExampleBrowser_SRCS
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3Win32ThreadSupport.cpp
../MultiThreading/b3ThreadSupportInterface.cpp
../RenderingExamples/TinyRendererSetup.cpp
../RenderingExamples/TimeSeriesCanvas.cpp
../RenderingExamples/TimeSeriesCanvas.h
../RenderingExamples/TimeSeriesFontData.cpp
../RenderingExamples/TimeSeriesFontData.h
../RenderingExamples/DynamicTexturedCubeDemo.cpp
../RenderingExamples/DynamicTexturedCubeDemo.h
../RenderingExamples/TinyVRGui.cpp
../RenderingExamples/TinyVRGui.h
../RoboticsLearning/GripperGraspExample.cpp
../RoboticsLearning/GripperGraspExample.h
../RoboticsLearning/b3RobotSimAPI.cpp

5
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -6,7 +6,7 @@
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
#include "../RenderingExamples/TinyRendererSetup.h"
#include "../RenderingExamples/DynamicTexturedCubeDemo.h"
#include "../ForkLift/ForkLiftDemo.h"
#include "../BasicDemo/BasicExample.h"
#include "../Planar2D/Planar2D.h"
@@ -291,6 +291,9 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc),
ExampleEntry(1,"TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
ExampleEntry(1,"Dynamic Texture", "Dynamic updated textured applied to a cube.", DynamicTexturedCubeDemoCreateFunc),
//Extended Tutorials Added by Mobeen
ExampleEntry(0,"Extended Tutorials"),

13
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -1087,7 +1087,7 @@ bool OpenGLExampleBrowser::requestedExit()
void OpenGLExampleBrowser::update(float deltaTime)
{
B3_PROFILE("OpenGLExampleBrowser::update");
assert(glGetError()==GL_NO_ERROR);
s_instancingRenderer->init();
DrawGridData dg;
@@ -1139,9 +1139,11 @@ void OpenGLExampleBrowser::update(float deltaTime)
singleStepSimulation = false;
//printf("---------------------------------------------------\n");
//printf("Framecount = %d\n",frameCount);
B3_PROFILE("sCurrentDemo->stepSimulation");
if (gFixedTimeStep>0)
{
sCurrentDemo->stepSimulation(gFixedTimeStep);
} else
{
@@ -1167,7 +1169,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
sCurrentDemo->renderScene();
}
{
B3_PROFILE("physicsDebugDraw");
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
}
@@ -1179,6 +1181,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
{
B3_PROFILE("setStatusBarMessage");
char msg[1024];
float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
@@ -1194,6 +1197,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
static int toggle = 1;
if (renderGui)
{
B3_PROFILE("renderGui");
// if (!pauseSimulation)
// processProfileData(s_profWindow,false);
@@ -1202,7 +1206,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
}
BT_PROFILE("Draw Gwen GUI");
if (m_internalData->m_gui)
{
m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
@@ -1237,6 +1241,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
if (gui2)
{
B3_PROFILE("forceUpdateScrollBars");
gui2->forceUpdateScrollBars();
}

23
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -289,18 +289,25 @@ void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
return;
int numCollisionObjects = rbWorld->getNumCollisionObjects();
for (int i = 0; i<numCollisionObjects; i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj->getUserIndex();
if (index >= 0)
B3_PROFILE("write all InstanceTransformToCPU");
for (int i = 0; i<numCollisionObjects; i++)
{
m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
B3_PROFILE("writeSingleInstanceTransformToCPU");
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj->getUserIndex();
if (index >= 0)
{
m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
}
}
}
m_data->m_glApp->m_renderer->writeTransforms();
{
B3_PROFILE("writeTransforms");
m_data->m_glApp->m_renderer->writeTransforms();
}
}

1
examples/ExampleBrowser/premake4.lua
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@@ -54,7 +54,6 @@ project "App_BulletExampleBrowser"
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../RenderingExamples/TinyRendererSetup.cpp",
"../SharedMemory/IKTrajectoryHelper.cpp",
"../SharedMemory/IKTrajectoryHelper.h",
"../SharedMemory/PhysicsClientC_API.cpp",

62
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -413,17 +413,32 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
void GLInstancingRenderer::writeTransforms()
{
b3Assert(glGetError() ==GL_NO_ERROR);
{
B3_PROFILE("b3Assert(glGetError() 1");
b3Assert(glGetError() ==GL_NO_ERROR);
}
{
B3_PROFILE("glBindBuffer");
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
}
{
B3_PROFILE("glFlush()");
//without the flush, the glBufferSubData can spike to really slow (seconds slow)
glFlush();
}
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
//glFlush();
b3Assert(glGetError() ==GL_NO_ERROR);
{
B3_PROFILE("b3Assert(glGetError() 2");
b3Assert(glGetError() ==GL_NO_ERROR);
}
#ifdef B3_DEBUG
{
//B3_PROFILE("m_data->m_totalNumInstances == totalNumInstances");
int totalNumInstances= 0;
for (int k=0;k<m_graphicsInstances.size();k++)
{
@@ -440,14 +455,29 @@ void GLInstancingRenderer::writeTransforms()
// int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
#if 1
{
// printf("m_data->m_totalNumInstances = %d\n", m_data->m_totalNumInstances);
{
B3_PROFILE("glBufferSubData pos");
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_positions_ptr[0]);
}
{
B3_PROFILE("glBufferSubData orn");
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_quaternion_ptr[0]);
}
{
B3_PROFILE("glBufferSubData color");
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_colors_ptr[0]);
}
{
B3_PROFILE("glBufferSubData scale");
glBufferSubData( GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
&m_data->m_instance_scale_ptr[0]);
}
}
#else
char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
@@ -517,9 +547,15 @@ void GLInstancingRenderer::writeTransforms()
#endif
glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
{
B3_PROFILE("glBindBuffer 2");
glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
}
b3Assert(glGetError() ==GL_NO_ERROR);
{
B3_PROFILE("b3Assert(glGetError() 4");
b3Assert(glGetError() ==GL_NO_ERROR);
}
}
@@ -686,9 +722,13 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
char* dest= (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
int vertexStrideInBytes = 9*sizeof(float);
int sz = numvertices*vertexStrideInBytes;
#if 0
char* dest= (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
#ifdef B3_DEBUG
int totalUsed = vertexStrideInBytes*gfxObj->m_vertexArrayOffset+sz;
b3Assert(totalUsed<m_data->m_maxShapeCapacityInBytes);
@@ -696,6 +736,10 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
glUnmapBuffer( GL_ARRAY_BUFFER);
#else
glBufferSubData( GL_ARRAY_BUFFER,vertexStrideInBytes*gfxObj->m_vertexArrayOffset,sz,
vertices);
#endif
glGenBuffers(1, &gfxObj->m_index_vbo);
@@ -1467,6 +1511,8 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
float l_ClampColor[] = {1.0, 1.0, 1.0, 1.0};
glTexParameterfv(GL_TEXTURE_2D, GL_TEXTURE_BORDER_COLOR, l_ClampColor);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER);

2
examples/OpenGLWindow/GLPrimitiveRenderer.cpp
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@@ -223,7 +223,7 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
bool useFiltering = false;
if (useFiltering)
{
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
} else
{

6
examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
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@@ -36,11 +36,9 @@ void main(void)
//float bias = 0.005f;
float bias = 0.0001*tan(acos(intensity));
bias = clamp(bias, 0,0.01);
float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));
float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));
intensity = 0.7*intensity + 0.3*intensity*visibility;

5
examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
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@@ -30,9 +30,8 @@ static const char* useShadowMapInstancingFragmentShader= \
" \n"
" //float bias = 0.005f;\n"
" \n"
" float bias = 0.0001*tan(acos(intensity));\n"
" bias = clamp(bias, 0,0.01);\n"
" float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));\n"
" \n"
" float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));\n"
" \n"
" intensity = 0.7*intensity + 0.3*intensity*visibility;\n"
" \n"

5
examples/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -107,7 +107,7 @@ static GLuint BindFont(const CTexFont *_Font)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,GL_NEAREST);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,GL_NEAREST);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,GL_LINEAR_MIPMAP_LINEAR);
glBindTexture(GL_TEXTURE_2D, 0);
return TexID;
@@ -173,6 +173,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, boo
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer = new GLInstancingRenderer(128*1024,128*1024*1024);
m_primRenderer = new GLPrimitiveRenderer(width,height);
m_renderer = m_instancingRenderer ;
@@ -830,7 +831,7 @@ void SimpleOpenGL3App::dumpNextFrameToPng(const char* filename)
, 0,GL_RGBA, GL_FLOAT, 0);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
//glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);

4
examples/OpenGLWindow/opengl_fontstashcallbacks.cpp
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@@ -126,7 +126,7 @@ void InternalOpenGL2RenderCallbacks::updateTexture(sth_texture* texture, sth_gly
texture->m_texels = (unsigned char*)malloc(textureWidth*textureHeight);
memset(texture->m_texels,0,textureWidth*textureHeight);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, textureWidth, textureHeight, 0, GL_RED, GL_UNSIGNED_BYTE, texture->m_texels);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
assert(glGetError()==GL_NO_ERROR);
@@ -187,7 +187,7 @@ void InternalOpenGL2RenderCallbacks::render(sth_texture* texture)
bool useFiltering = false;
if (useFiltering)
{
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
} else
{

152
examples/RenderingExamples/DynamicTexturedCubeDemo.cpp Normal file
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@@ -0,0 +1,152 @@
#include "DynamicTexturedCubeDemo.h"
#include "Bullet3Common/b3Logging.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "GwenGUISupport/GraphingTexture.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "../RenderingExamples/TimeSeriesCanvas.h"
#include "../RenderingExamples/TimeSeriesFontData.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "TinyVRGui.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
class DynamicTexturedCubeDemo : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
TinyVRGui* m_tinyVrGUI;
enum
{
numCubesX = 1,
numCubesY = 1
};
public:
DynamicTexturedCubeDemo(CommonGraphicsApp* app)
:m_app(app),
m_x(0),
m_y(0),
m_z(0),
m_tinyVrGUI(0)
{
m_app->setUpAxis(2);
{
b3Vector3 extents=b3MakeVector3(100,100,100);
extents[m_app->getUpAxis()]=1;
int xres = 20;
int yres = 20;
b3Vector4 color0=b3MakeVector4(0.1, 0.1, 0.5,1);
b3Vector4 color1=b3MakeVector4(0.6, 0.6, 0.6,1);
m_app->registerGrid(xres, yres, color0, color1);
}
ComboBoxParams comboParams;
comboParams.m_comboboxId = 0;
comboParams.m_numItems = 0;
comboParams.m_startItem = 0;
comboParams.m_callback = 0;//MyComboBoxCallback;
comboParams.m_userPointer = 0;//this;
m_tinyVrGUI = new TinyVRGui(comboParams,m_app->m_renderer);
m_tinyVrGUI->init();
m_app->m_renderer->writeTransforms();
}
virtual ~DynamicTexturedCubeDemo()
{
delete m_tinyVrGUI;
m_app->m_renderer->enableBlend(false);
}
virtual void physicsDebugDraw(int debugDrawMode)
{
}
virtual void initPhysics()
{
}
virtual void exitPhysics()
{
}
virtual void stepSimulation(float deltaTime)
{
static b3Transform tr = b3Transform::getIdentity();
static b3Scalar t = 0.f;
t+=deltaTime;
tr.setOrigin(b3MakeVector3(0.,0.,2.)+b3MakeVector3(0.,0.,0.02*b3Sin(t)));
m_tinyVrGUI->tick(deltaTime,tr);
m_app->m_renderer->writeTransforms();
}
virtual void renderScene()
{
m_app->m_renderer->renderScene();
}
virtual void physicsDebugDraw()
{
}
virtual bool mouseMoveCallback(float x,float y)
{
return false;
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return false;
}
virtual bool keyboardCallback(int key, int state)
{
return false;
}
virtual void resetCamera()
{
float dist = 1.15;
float pitch = 396;
float yaw = 33.7;
float targetPos[3]={-0.5,0.7,1.45};
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
{
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
}
}
};
class CommonExampleInterface* DynamicTexturedCubeDemoCreateFunc(struct CommonExampleOptions& options)
{
return new DynamicTexturedCubeDemo(options.m_guiHelper->getAppInterface());
}

6
examples/RenderingExamples/DynamicTexturedCubeDemo.h Normal file
View File

@@ -0,0 +1,6 @@
#ifndef DYNAMIC_TEXTURED_CUBE_DEMO_H
#define DYNAMIC_TEXTURED_CUBE_DEMO_H
class CommonExampleInterface* DynamicTexturedCubeDemoCreateFunc(struct CommonExampleOptions& options);
#endif //DYNAMIC_TEXTURED_CUBE_DEMO_H

23
examples/RenderingExamples/TimeSeriesCanvas.cpp
View File

@@ -104,7 +104,7 @@ void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char
m_internalData->m_dataSources.push_back(dataSource);
}
void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime)
void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas)
{
if (0==m_internalData->m_canvasInterface)
return;
@@ -113,20 +113,23 @@ void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int sta
m_internalData->m_ticksPerSecond = ticksPerSecond;
m_internalData->m_yScale = yScale;
m_internalData->m_dataSources.clear();
for (int i=0;i<m_internalData->m_width;i++)
if (clearCanvas)
{
for (int j=0;j<m_internalData->m_height;j++)
for (int i=0;i<m_internalData->m_width;i++)
{
for (int j=0;j<m_internalData->m_height;j++)
{
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i,j,
m_internalData->m_backgroundRed,
m_internalData->m_backgroundGreen,
m_internalData->m_backgroundBlue,
m_internalData->m_backgroundAlpha);
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i,j,
m_internalData->m_backgroundRed,
m_internalData->m_backgroundGreen,
m_internalData->m_backgroundBlue,
m_internalData->m_backgroundAlpha);
}
}
}
float zeroPixelCoord = m_internalData->m_zero;
float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
@@ -207,7 +210,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
int countdown = resetVal;
//shift pixture one pixel to the left
for (int j=0;j<m_internalData->m_height-48;j++)
for (int j=50;j<m_internalData->m_height-48;j++)
{
for (int i=40;i<this->m_internalData->m_width;i++)
{

6
examples/RenderingExamples/TimeSeriesCanvas.h
View File

@@ -6,17 +6,17 @@ class TimeSeriesCanvas
protected:
struct TimeSeriesInternalData* m_internalData;
void shift1PixelToLeft();
void grapicalPrintf(const char* str, void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
public:
TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterface, int width, int height, const char* windowTitle);
virtual ~TimeSeriesCanvas();
void setupTimeSeries(float yScale, int ticksPerSecond, int startTime);
void setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas=true);
void addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue);
void insertDataAtCurrentTime(float value, int dataSourceIndex, bool connectToPrevious);
float getCurrentTime() const;
void grapicalPrintf(const char* str, void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
virtual void nextTick();

218
examples/RenderingExamples/TinyVRGui.cpp Normal file
View File

@@ -0,0 +1,218 @@
#include "TinyVRGui.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../ExampleBrowser/GwenGUISupport/GraphingTexture.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "../RenderingExamples/TimeSeriesCanvas.h"
#include "../RenderingExamples/TimeSeriesFontData.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
struct TestCanvasInterface2 : public Common2dCanvasInterface
{
b3AlignedObjectArray<unsigned char>& m_texelsRGB;
int m_width;
int m_height;
TestCanvasInterface2(b3AlignedObjectArray<unsigned char>& texelsRGB, int width, int height)
:m_width(width),
m_height(height),
m_texelsRGB(texelsRGB)
{
}
virtual ~TestCanvasInterface2()
{}
virtual int createCanvas(const char* canvasName, int width, int height)
{
return 0;
}
virtual void destroyCanvas(int canvasId)
{
}
virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
{
if (x>=0 && x<m_width && y>=0 && y<m_height)
{
m_texelsRGB[(x+y*m_width)*3+0] = red;
m_texelsRGB[(x+y*m_width)*3+1] = green;
m_texelsRGB[(x+y*m_width)*3+2] = blue;
}
}
virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha)
{
if (x>=0 && x<m_width && y>=0 && y<m_height)
{
red = m_texelsRGB[(x+y*m_width)*3+0];
green = m_texelsRGB[(x+y*m_width)*3+1];
blue = m_texelsRGB[(x+y*m_width)*3+2];
}
}
virtual void refreshImageData(int canvasId)
{
}
};
struct TinyVRGuiInternalData
{
CommonRenderInterface* m_renderer;
b3AlignedObjectArray<unsigned char> m_texelsRGB;
TestCanvasInterface2* m_testCanvas;
TimeSeriesCanvas* m_timeSeries;
int m_src;
int m_textureId;
int m_gfxObjectId;
TinyVRGuiInternalData()
:m_renderer(0),
m_testCanvas(0),
m_timeSeries(0),
m_src(-1),
m_textureId(-1),
m_gfxObjectId(-1)
{
}
};
TinyVRGui::TinyVRGui(struct ComboBoxParams& params, struct CommonRenderInterface* renderer)
{
m_data = new TinyVRGuiInternalData;
m_data->m_renderer = renderer;
}
TinyVRGui::~TinyVRGui()
{
delete m_data->m_timeSeries;
delete m_data->m_testCanvas;
delete m_data;
}
bool TinyVRGui::init()
{
{
int width = 256;
int height = 256;
m_data->m_texelsRGB.resize(width*height*3);
for (int i=0;i<width;i++)
for (int j=0;j<height;j++)
{
m_data->m_texelsRGB[(i+j*width)*3+0] = 155;
m_data->m_texelsRGB[(i+j*width)*3+1] = 155;
m_data->m_texelsRGB[(i+j*width)*3+2] = 255;
}
m_data->m_testCanvas = new TestCanvasInterface2(m_data->m_texelsRGB,width,height);
m_data->m_timeSeries = new TimeSeriesCanvas(m_data->m_testCanvas,width,height,"time series");
bool clearCanvas = false;
m_data->m_timeSeries->setupTimeSeries(3,100, 0,clearCanvas);
m_data->m_timeSeries->addDataSource("Some sine wave", 255,0,0);
m_data->m_timeSeries->addDataSource("Some cosine wave", 0,255,0);
m_data->m_timeSeries->addDataSource("Delta Time (*10)", 0,0,255);
m_data->m_timeSeries->addDataSource("Tan", 255,0,255);
m_data->m_timeSeries->addDataSource("Some cosine wave2", 255,255,0);
m_data->m_timeSeries->addDataSource("Empty source2", 255,0,255);
m_data->m_textureId = m_data->m_renderer->registerTexture(&m_data->m_texelsRGB[0],width,height);
{
const char* fileName = "cube.obj";//"textured_sphere_smooth.obj";
//fileName = "cube.obj";
int shapeId = -1;
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
{
shapeId = m_data->m_renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
B3_GL_TRIANGLES,
m_data->m_textureId);
float position[4]={0,0,2,1};
float orn[4]={0,0,0,1};
float color[4]={1,1,1,1};
float scaling[4]={.1,.1,.1,1};
m_data->m_gfxObjectId = m_data->m_renderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_data->m_renderer->writeTransforms();
meshData.m_gfxShape->m_scaling[0] = scaling[0];
meshData.m_gfxShape->m_scaling[1] = scaling[1];
meshData.m_gfxShape->m_scaling[2] = scaling[2];
delete meshData.m_gfxShape;
delete meshData.m_textureImage;
}
}
}
m_data->m_renderer->writeTransforms();
return true;
}
void TinyVRGui::tick(b3Scalar deltaTime, const b3Transform& guiWorldTransform)
{
float time = m_data->m_timeSeries->getCurrentTime();
float v = sinf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,0,true);
v = cosf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,1,true);
v = tanf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,3,true);
m_data->m_timeSeries->insertDataAtCurrentTime(deltaTime*10,2,true);
m_data->m_timeSeries->nextTick();
m_data->m_renderer->updateTexture(m_data->m_textureId,&m_data->m_texelsRGB[0]);
m_data->m_renderer->writeSingleInstanceTransformToCPU(guiWorldTransform.getOrigin(),guiWorldTransform.getRotation(),m_data->m_gfxObjectId);
m_data->m_renderer->writeTransforms();
}
void TinyVRGui::clearTextArea()
{
int width = 256;
int height = 50;
for (int i=0;i<width;i++)
for (int j=0;j<height;j++)
{
m_data->m_texelsRGB[(i+j*width)*3+0] = 155;
m_data->m_texelsRGB[(i+j*width)*3+1] = 155;
m_data->m_texelsRGB[(i+j*width)*3+2] = 255;
}
}
void TinyVRGui::grapicalPrintf(const char* str,int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
{
m_data->m_timeSeries->grapicalPrintf(str,sTimeSeriesFontData,rasterposx,rasterposy,red,green,blue,alpha);
}

25
examples/RenderingExamples/TinyVRGui.h Normal file
View File

@@ -0,0 +1,25 @@
#ifndef TINY_VR_GUI_H
#define TINY_VR_GUI_H
#include "Bullet3Common/b3Transform.h"
class TinyVRGui
{
struct TinyVRGuiInternalData* m_data;
public:
TinyVRGui(struct ComboBoxParams& params, struct CommonRenderInterface* renderer);
virtual ~TinyVRGui();
bool init();
void tick(b3Scalar deltaTime, const b3Transform& guiWorldTransform);
void clearTextArea();
void grapicalPrintf(const char* str,int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
};
#endif //TINY_VR_GUI_H

22
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -30,7 +30,27 @@ b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClien
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_SAVE_WORLD;
int len = strlen(sdfFileName);
if (len<MAX_SDF_FILENAME_LENGTH)
{
strcpy(command->m_sdfArguments.m_sdfFileName,sdfFileName);
} else
{
command->m_sdfArguments.m_sdfFileName[0] = 0;
}
command->m_updateFlags = SDF_ARGS_FILE_NAME;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3LoadUrdfCommandInit(b3PhysicsClientHandle physClient, const char* urdfFileName)
{

3
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -146,6 +146,9 @@ int b3GetStatusInverseKinematicsJointPositions(b3SharedMemoryStatusHandle status
b3SharedMemoryCommandHandle b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
int b3LoadSdfCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
b3SharedMemoryCommandHandle b3SaveWorldCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
b3SharedMemoryCommandHandle b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);

8
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -5,6 +5,7 @@
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "SharedMemoryCommon.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "PhysicsClientC_API.h"
#include "PhysicsClient.h"
//#include "SharedMemoryCommands.h"
@@ -451,6 +452,12 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_SAVE_WORLD:
{
b3SharedMemoryCommandHandle commandHandle = b3SaveWorldCommandInit(m_physicsClientHandle, "saveWorld.py");
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -525,6 +532,7 @@ 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("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);

22
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -615,9 +615,27 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Contact Point Information Request failed");
break;
}
case CMD_SAVE_WORLD_COMPLETED:
break;
case CMD_SAVE_WORLD_FAILED:
{
b3Warning("Saving world failed");
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED:
{
break;
}
case CMD_CALCULATE_INVERSE_KINEMATICS_FAILED:
{
b3Warning("Calculate Inverse Kinematics Request failed");
break;
}
default: {
b3Error("Unknown server status\n");
b3Error("Unknown server status %d\n", serverCmd.m_type);
btAssert(0);
}
};

206
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -31,6 +31,7 @@
#include "BulletSoftBody/btSoftBodyHelpers.h"
#include "../SoftDemo/BunnyMesh.h"
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
btVector3 gLastPickPos(0, 0, 0);
bool gCloseToKuka=false;
@@ -305,6 +306,12 @@ struct CommandLogPlayback
}
};
struct SaveWorldObjectData
{
b3AlignedObjectArray<int> m_bodyUniqueIds;
std::string m_fileName;
};
struct PhysicsServerCommandProcessorInternalData
{
///handle management
@@ -401,6 +408,8 @@ struct PhysicsServerCommandProcessorInternalData
btMultiBody* m_kukaGripperMultiBody;
btMultiBodyPoint2Point* m_kukaGripperRevolute1;
btMultiBodyPoint2Point* m_kukaGripperRevolute2;
int m_huskyId;
int m_KukaId;
int m_sphereId;
@@ -414,7 +423,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
@@ -457,6 +466,10 @@ struct PhysicsServerCommandProcessorInternalData
:m_hasGround(false),
m_gripperRigidbodyFixed(0),
m_gripperMultiBody(0),
m_kukaGripperFixed(0),
m_kukaGripperMultiBody(0),
m_kukaGripperRevolute1(0),
m_kukaGripperRevolute2(0),
m_allowRealTimeSimulation(false),
m_huskyId(-1),
m_KukaId(-1),
@@ -817,6 +830,9 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
{
b3Printf("loaded %s OK!", fileName);
}
SaveWorldObjectData sd;
sd.m_fileName = fileName;
for (int m =0; m<u2b.getNumModels();m++)
{
@@ -830,6 +846,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
sd.m_bodyUniqueIds.push_back(bodyUniqueId);
u2b.setBodyUniqueId(bodyUniqueId);
{
@@ -860,6 +877,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
if (mb)
mb->setUserIndex2(bodyUniqueId);
if (mb)
{
bodyHandle->m_multiBody = mb;
@@ -904,6 +922,9 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
}
}
m_data->m_saveWorldBodyData.push_back(sd);
}
return loadOk;
}
@@ -936,6 +957,14 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
if (bodyUniqueIdPtr)
*bodyUniqueIdPtr= bodyUniqueId;
//quick prototype of 'save world' for crude world editing
{
SaveWorldObjectData sd;
sd.m_fileName = fileName;
sd.m_bodyUniqueIds.push_back(bodyUniqueId);
m_data->m_saveWorldBodyData.push_back(sd);
}
u2b.setBodyUniqueId(bodyUniqueId);
InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
@@ -1342,6 +1371,154 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_SAVE_WORLD:
{
///this is a very rudimentary way to save the state of the world, for scene authoring
///many todo's, for example save the state of motor controllers etc.
{
//saveWorld(clientCmd.m_sdfArguments.m_sdfFileName);
FILE* f = fopen(clientCmd.m_sdfArguments.m_sdfFileName,"w");
if (f)
{
char line[1024];
{
sprintf(line,"import pybullet as p\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
{
sprintf(line,"p.connect(p.SHARED_MEMORY)\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
//for each objects ...
for (int i=0;i<m_data->m_saveWorldBodyData.size();i++)
{
SaveWorldObjectData& sd = m_data->m_saveWorldBodyData[i];
for (int i=0;i<sd.m_bodyUniqueIds.size();i++)
{
{
int bodyUniqueId = sd.m_bodyUniqueIds[i];
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body)
{
if (body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
btTransform comTr = mb->getBaseWorldTransform();
btTransform tr = comTr * body->m_rootLocalInertialFrame.inverse();
if (strstr(sd.m_fileName.c_str(),".urdf"))
{
sprintf(line,"objects = [p.loadURDF(\"%s\", %f,%f,%f,%f,%f,%f,%f)]\n",sd.m_fileName.c_str(),
tr.getOrigin()[0],tr.getOrigin()[1],tr.getOrigin()[2],
tr.getRotation()[0],tr.getRotation()[1],tr.getRotation()[2],tr.getRotation()[3]);
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".sdf") && i==0)
{
sprintf(line,"objects = p.loadSDF(\"%s\")\n",sd.m_fileName.c_str());
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".sdf") || ((strstr(sd.m_fileName.c_str(),".urdf")) && mb->getNumLinks()) )
{
sprintf(line,"ob = objects[%d]\n",i);
int len = strlen(line);
fwrite(line,len,1,f);
}
if (strstr(sd.m_fileName.c_str(),".sdf"))
{
sprintf(line,"p.resetBasePositionAndOrientation(ob,[%f,%f,%f],[%f,%f,%f,%f])\n",
comTr.getOrigin()[0],comTr.getOrigin()[1],comTr.getOrigin()[2],
comTr.getRotation()[0],comTr.getRotation()[1],comTr.getRotation()[2],comTr.getRotation()[3]);
int len = strlen(line);
fwrite(line,len,1,f);
}
if (mb->getNumLinks())
{
{
sprintf(line,"jointPositions=[");
int len = strlen(line);
fwrite(line,len,1,f);
}
for (int i=0;i<mb->getNumLinks();i++)
{
btScalar jointPos = mb->getJointPosMultiDof(i)[0];
if (i<mb->getNumLinks()-1)
{
sprintf(line," %f,",jointPos);
int len = strlen(line);
fwrite(line,len,1,f);
} else
{
sprintf(line," %f ",jointPos);
int len = strlen(line);
fwrite(line,len,1,f);
}
}
{
sprintf(line,"]\nfor jointIndex in range (p.getNumJoints(ob)):\n\tp.resetJointState(ob,jointIndex,jointPositions[jointIndex])\n\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
}
} else
{
//todo: btRigidBody/btSoftBody etc case
}
}
}
}
//for URDF, load at origin, then reposition...
struct SaveWorldObjectData
{
b3AlignedObjectArray<int> m_bodyUniqueIds;
std::string m_fileName;
};
}
{
btVector3 grav=this->m_data->m_dynamicsWorld->getGravity();
sprintf(line,"p.setGravity(%f,%f,%f)\n",grav[0],grav[1],grav[2]);
int len = strlen(line);
fwrite(line,len,1,f);
}
{
sprintf(line,"p.stepSimulation()\np.disconnect()\n");
int len = strlen(line);
fwrite(line,len,1,f);
}
fclose(f);
}
serverStatusOut.m_type = CMD_SAVE_WORLD_COMPLETED;
hasStatus = true;
break;
}
serverStatusOut.m_type = CMD_SAVE_WORLD_FAILED;
hasStatus = true;
break;
}
case CMD_LOAD_SDF:
{
const SdfArgs& sdfArgs = clientCmd.m_sdfArguments;
@@ -1846,16 +2023,16 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btVector3 linkLocalInertialOrigin = body->m_linkLocalInertialFrames[l].getOrigin();
btQuaternion linkLocalInertialRotation = body->m_linkLocalInertialFrames[l].getRotation();
btVector3 linkOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin();
btQuaternion linkRotation = mb->getLink(l).m_cachedWorldTransform.getRotation();
btVector3 linkCOMOrigin = mb->getLink(l).m_cachedWorldTransform.getOrigin();
btQuaternion linkCOMRotation = mb->getLink(l).m_cachedWorldTransform.getRotation();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = linkRotation.x();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkRotation.y();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkRotation.w();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+0] = linkCOMOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+1] = linkCOMOrigin.getY();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+2] = linkCOMOrigin.getZ();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+3] = linkCOMRotation.x();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+4] = linkCOMRotation.y();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+5] = linkCOMRotation.z();
serverCmd.m_sendActualStateArgs.m_linkState[l*7+6] = linkCOMRotation.w();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+0] = linkLocalInertialOrigin.getX();
serverCmd.m_sendActualStateArgs.m_linkLocalInertialFrames[l*7+1] = linkLocalInertialOrigin.getY();
@@ -2744,12 +2921,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
ikHelperPtr->computeNullspaceVel(numDofs, &q_current[0], &lower_limit[0], &upper_limit[0], &joint_range[0], &rest_pose[0]);
}
btTransform endEffectorTransformWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform * bodyHandle->m_linkLocalInertialFrames[endEffectorLinkIndex].inverse();
btVector3DoubleData endEffectorWorldPosition;
btVector3DoubleData endEffectorWorldOrientation;
btVector3 endEffectorPosWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getOrigin();
btQuaternion endEffectorOriWorld = bodyHandle->m_multiBody->getLink(endEffectorLinkIndex).m_cachedWorldTransform.getRotation();
btVector3 endEffectorPosWorld = endEffectorTransformWorld.getOrigin();
btQuaternion endEffectorOriWorld = endEffectorTransformWorld.getRotation();
btVector4 endEffectorOri(endEffectorOriWorld.x(),endEffectorOriWorld.y(),endEffectorOriWorld.z(),endEffectorOriWorld.w());
endEffectorPosWorld.serializeDouble(endEffectorWorldPosition);
@@ -3000,6 +3179,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
gBufferServerToClient.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
int bodyId = 0;
if (gCreateObjectSimVR >= 0)
{
gCreateObjectSimVR = -1;
@@ -3189,7 +3369,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
//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());
m_data->m_huskyId = bodyId;
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));

114
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -12,6 +12,12 @@
#include "Bullet3Common/b3Matrix3x3.h"
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
#ifdef BT_ENABLE_VR
#include "../RenderingExamples/TinyVRGui.h"
#endif//BT_ENABLE_VR
#include "../CommonInterfaces/CommonParameterInterface.h"
#define MAX_VR_CONTROLLERS 8
@@ -546,6 +552,10 @@ class PhysicsServerExample : public SharedMemoryCommon
bool m_replay;
int m_options;
#ifdef BT_ENABLE_VR
TinyVRGui* m_tinyVrGui;
#endif
public:
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
@@ -677,6 +687,9 @@ m_wantsShutdown(false),
m_isConnected(false),
m_replay(false),
m_options(options)
#ifdef BT_ENABLE_VR
,m_tinyVrGui(0)
#endif
{
m_multiThreadedHelper = helper;
b3Printf("Started PhysicsServer\n");
@@ -686,6 +699,9 @@ m_options(options)
PhysicsServerExample::~PhysicsServerExample()
{
#ifdef BT_ENABLE_VR
delete m_tinyVrGui;
#endif
bool deInitializeSharedMemory = true;
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
m_isConnected = false;
@@ -942,7 +958,73 @@ extern double gSubStep;
void PhysicsServerExample::renderScene()
{
B3_PROFILE("PhysicsServerExample::RenderScene");
static char line0[1024];
static char line1[1024];
if (gEnableRealTimeSimVR)
{
static int frameCount=0;
static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
static btScalar worseFps = 1000000;
int numFrames = 200;
static int count = 0;
count++;
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
btScalar fps = 1. / (curTime - prevTime);
prevTime = curTime;
if (fps < worseFps)
{
worseFps = fps;
}
if (count > numFrames)
{
count = 0;
sprintf(line0, "fps:%f frame:%d", worseFps, frameCount / 2);
sprintf(line1, "drop:%d tscale:%f dt:%f, substep %f)", gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
gDroppedSimulationSteps = 0;
worseFps = 1000000;
}
}
#ifdef BT_ENABLE_VR
if (m_tinyVrGui==0)
{
ComboBoxParams comboParams;
comboParams.m_comboboxId = 0;
comboParams.m_numItems = 0;
comboParams.m_startItem = 0;
comboParams.m_callback = 0;//MyComboBoxCallback;
comboParams.m_userPointer = 0;//this;
m_tinyVrGui = new TinyVRGui(comboParams,this->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface());
m_tinyVrGui->init();
}
if (m_tinyVrGui)
{
b3Transform tr;tr.setIdentity();
tr.setOrigin(b3MakeVector3(gVRController2Pos[0],gVRController2Pos[1],gVRController2Pos[2]));
tr.setRotation(b3Quaternion(gVRController2Orn[0],gVRController2Orn[1],gVRController2Orn[2],gVRController2Orn[3]));
tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
b3Scalar dt = 0.01;
m_tinyVrGui->clearTextArea();
m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);
m_tinyVrGui->tick(dt,tr);
}
#endif//BT_ENABLE_VR
}
///debug rendering
//m_args[0].m_cs->lock();
@@ -993,38 +1075,6 @@ void PhysicsServerExample::renderScene()
B3_PROFILE("Draw Debug HUD");
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
static int frameCount=0;
static btScalar prevTime = m_clock.getTimeSeconds();
frameCount++;
static char line0[1024];
static char line1[1024];
static btScalar worseFps = 1000000;
int numFrames = 200;
static int count = 0;
count++;
if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
btScalar fps = 1. / (curTime - prevTime);
prevTime = curTime;
if (fps < worseFps)
{
worseFps = fps;
}
if (count > numFrames)
{
count = 0;
sprintf(line0, "Graphics FPS (worse) = %f, frame %d", worseFps, frameCount / 2);
sprintf(line1, "Physics Steps = %d, Drop = %d, time scale=%f, dt %f, Substep %f)", gNumSteps, gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
gDroppedSimulationSteps = 0;
worseFps = 1000000;
}
}
float pos[4];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);

5
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -33,6 +33,7 @@ enum EnumSharedMemoryClientCommand
CMD_CALCULATE_JACOBIAN,
CMD_CREATE_JOINT,
CMD_REQUEST_CONTACT_POINT_INFORMATION,
CMD_SAVE_WORLD,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -75,6 +76,10 @@ enum EnumSharedMemoryServerStatus
CMD_CONTACT_POINT_INFORMATION_FAILED,
CMD_CALCULATE_INVERSE_KINEMATICS_COMPLETED,
CMD_CALCULATE_INVERSE_KINEMATICS_FAILED,
CMD_SAVE_WORLD_COMPLETED,
CMD_SAVE_WORLD_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};

3
examples/SharedMemory/premake4.lua
View File

@@ -231,6 +231,9 @@ if os.is("Windows") then
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../RenderingExamples/TinyVRGui.cpp",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",

46
examples/pybullet/pybullet.c
View File

@@ -112,6 +112,48 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
return Py_None;
}
static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args) {
int size = PySequence_Size(args);
const char* worldFileName = "";
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (size == 1) {
if (!PyArg_ParseTuple(args, "s", &worldFileName))
{
return NULL;
}
else
{
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
command = b3SaveWorldCommandInit(sm, worldFileName);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType != CMD_SAVE_WORLD_COMPLETED) {
PyErr_SetString(SpamError, "saveWorld command execution failed.");
return NULL;
}
Py_INCREF(Py_None);
return Py_None;
}
}
PyErr_SetString(SpamError, "Cannot execute saveWorld command.");
return NULL;
return NULL;
}
// Load a URDF file indicating the links and joints of an object
// function can be called without arguments and will default
// to position (0,0,1) with orientation(0,0,0,1)
@@ -2082,6 +2124,10 @@ static PyMethodDef SpamMethods[] = {
{"loadSDF", pybullet_loadSDF, METH_VARARGS,
"Load multibodies from an SDF file."},
{"saveWorld", pybullet_saveWorld, METH_VARARGS,
"Save an approximate Python file to reproduce the current state of the world: saveWorld"
"(filename). (very preliminary and approximately)"},
{"getNumBodies", pybullet_getNumBodies, METH_VARARGS,
"Get the number of bodies in the simulation."},

8
examples/pybullet/saveWorld.py Normal file
View File

@@ -0,0 +1,8 @@
import pybullet as p
import time
p.connect(p.SHARED_MEMORY)
timestr = time.strftime("%Y%m%d-%H%M%S")
filename = "saveWorld" + timestr + ".py"
p.saveWorld(filename)
p.disconnect()

2
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -28,7 +28,7 @@
#include "btMultiBodyJointFeedback.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btSerializer.h"
#include "Bullet3Common/b3Logging.h"
//#include "Bullet3Common/b3Logging.h"
// #define INCLUDE_GYRO_TERM
///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals

2
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
View File

@@ -1118,7 +1118,7 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
}
#endif
#include "Bullet3Common/b3Logging.h"
void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
{
#if 1