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Merge pull request #969 from erwincoumans/master

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allow to enable/disable GUI, shadows, wireframe etc of OpenGL Visualizer from pybullet/shmem
This commit is contained in:
erwincoumans
2017-02-22 05:09:08 -08:00
committed by GitHub
parent 61f05c7330 bf5f78f35a
commit 4c5958af1a
15 changed files with 205 additions and 8 deletions
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2
build_and_run_cmake_pybullet_double.sh
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@@ -2,7 +2,7 @@
rm CMakeCache.txt
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -G Xcode ..
make -j12
cd examples
cd pybullet

2
build_and_run_premake.sh
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@@ -3,5 +3,5 @@ cd build3
./premake4_linux64 gmake
./premake4_osx gmake
cd gmake
make -j12
make -j12 --double --enable_pybullet
../../bin/App_BulletExampleBrowser_gmake_x64_release

BIN
docs/pybullet_quickstartguide.pdf
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Binary file not shown.

7
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -12,6 +12,10 @@ struct CommonParameterInterface;
struct CommonRenderInterface;
struct CommonGraphicsApp;
typedef void (*VisualizerFlagCallback)(int flag, bool enable);
///The Bullet 2 GraphicsPhysicsBridge let's the graphics engine create graphics representation and synchronize
struct GUIHelperInterface
{
@@ -46,6 +50,8 @@ struct GUIHelperInterface
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
virtual void setVisualizerFlag(int flag, int enable){};
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
@@ -77,6 +83,7 @@ struct GUIHelperInterface
virtual void removeUserDebugItem( int debugItemUniqueId){};
virtual void removeAllUserDebugItems( ){};
virtual void setVisualizerFlagCallback(VisualizerFlagCallback callback){}
};

26
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -125,10 +125,10 @@ bool sUseOpenGL2 = false;
extern bool useShadowMap;
#endif
static bool visualWireframe=false;
bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
static bool renderGui = true;
bool renderGui = true;
static bool enable_experimental_opencl = false;
int gDebugDrawFlags = 0;
@@ -358,6 +358,24 @@ void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExa
fi.m_createFunc = createFunc;
gFileImporterByExtension.push_back(fi);
}
#include "../SharedMemory/SharedMemoryPublic.h"
void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
{
if (flag == COV_ENABLE_SHADOWS)
{
useShadowMap = enable;
}
if (flag == COV_ENABLE_GUI)
{
renderGui = enable;
}
if (flag == COV_ENABLE_WIREFRAME)
{
visualWireframe = enable;
}
}
void openFileDemo(const char* filename)
{
@@ -365,6 +383,8 @@ void openFileDemo(const char* filename)
deleteDemo();
s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
s_guiHelper->setVisualizerFlagCallback(OpenGLExampleBrowserVisualizerFlagCallback);
s_parameterInterface->removeAllParameters();
@@ -419,6 +439,8 @@ void selectDemo(int demoIndex)
}
int option = gAllExamples->getExampleOption(demoIndex);
s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
s_guiHelper->setVisualizerFlagCallback(OpenGLExampleBrowserVisualizerFlagCallback);
CommonExampleOptions options(s_guiHelper, option);
options.m_sharedMem = sSharedMem;
sCurrentDemo = (*func)(options);

18
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -154,9 +154,11 @@ struct OpenGLGuiHelperInternalData
btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer1;
btAlignedObjectArray<float> m_depthBuffer1;
VisualizerFlagCallback m_visualizerFlagCallback;
OpenGLGuiHelperInternalData()
:m_vrMode(false),
m_vrSkipShadowPass(0)
m_vrSkipShadowPass(0),
m_visualizerFlagCallback(0)
{
}
@@ -374,6 +376,20 @@ void OpenGLGuiHelper::setUpAxis(int axis)
}
void OpenGLGuiHelper::setVisualizerFlagCallback(VisualizerFlagCallback callback)
{
m_data->m_visualizerFlagCallback = callback;
}
void OpenGLGuiHelper::setVisualizerFlag(int flag, int enable)
{
if (m_data->m_visualizerFlagCallback)
(m_data->m_visualizerFlagCallback)(flag,enable);
}
void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
if (getRenderInterface() && getRenderInterface()->getActiveCamera())

4
examples/ExampleBrowser/OpenGLGuiHelper.h
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@@ -42,6 +42,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void setUpAxis(int axis);
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
@@ -80,6 +81,9 @@ struct OpenGLGuiHelper : public GUIHelperInterface
void setVRMode(bool vrMode);
void setVisualizerFlag(int flag, int enable);
virtual void setVisualizerFlagCallback(VisualizerFlagCallback callback);
};

47
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2551,3 +2551,50 @@ int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid
return 0;
}
///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CONFIGURE_OPENGL_VISUALIZER;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
{
command->m_updateFlags |= COV_SET_FLAGS;
command->m_configureOpenGLVisualizerArguments.m_setFlag = flag;
command->m_configureOpenGLVisualizerArguments.m_setEnabled = enabled;
}
}
void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER);
if (command->m_type == CMD_CONFIGURE_OPENGL_VISUALIZER)
{
command->m_updateFlags |= COV_SET_CAMERA_VIEW_MATRIX;
command->m_configureOpenGLVisualizerArguments.m_cameraDistance = cameraDistance;
command->m_configureOpenGLVisualizerArguments.m_cameraPitch = cameraPitch;
command->m_configureOpenGLVisualizerArguments.m_cameraYaw = cameraYaw;
command->m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0] = cameraTargetPosition[0];
command->m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1] = cameraTargetPosition[1];
command->m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2] = cameraTargetPosition[2];
}
}

6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -98,7 +98,13 @@ b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle
///Get the pointers to the physics debug line information, after b3InitRequestDebugLinesCommand returns
///status CMD_DEBUG_LINES_COMPLETED
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
///configure the 3D OpenGL debug visualizer (enable/disable GUI widgets, shadows, position camera etc)
b3SharedMemoryCommandHandle b3InitConfigureOpenGLVisualizer(b3PhysicsClientHandle physClient);
void b3ConfigureOpenGLVisualizerSetVisualizationFlags(b3SharedMemoryCommandHandle commandHandle, int flag, int enabled);
void b3ConfigureOpenGLVisualizerSetViewMatrix(b3SharedMemoryCommandHandle commandHandle, float cameraDistance, float cameraPitch, float cameraYaw, const float cameraTargetPosition[3]);
/// 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);

1
examples/SharedMemory/PhysicsClientTCP.cpp
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@@ -175,7 +175,6 @@ bool TcpNetworkedPhysicsProcessor::processCommand(const struct SharedMemoryComma
sz = sizeof(SharedMemoryCommand);
data = (unsigned char*)&clientCmd;
}
int res;
m_data->m_tcpSocket.Send((const uint8 *)data,sz);

26
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -507,7 +507,7 @@ struct MinitaurStateLogger : public InternalStateLogger
if (m_logFileHandle)
{
btVector3 pos = m_minitaurMultiBody->getBasePos();
//btVector3 pos = m_minitaurMultiBody->getBasePos();
MinitaurLogRecord logData;
//'t', 'r', 'p', 'y', 'q0', 'q1', 'q2', 'q3', 'q4', 'q5', 'q6', 'q7', 'u0', 'u1', 'u2', 'u3', 'u4', 'u5', 'u6', 'u7', 'xd', 'mo'
@@ -3570,6 +3570,30 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = true;
break;
}
case CMD_CONFIGURE_OPENGL_VISUALIZER:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
if (clientCmd.m_updateFlags&COV_SET_FLAGS)
{
m_data->m_guiHelper->setVisualizerFlag(clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag,
clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled);
}
if (clientCmd.m_updateFlags&COV_SET_CAMERA_VIEW_MATRIX)
{
m_data->m_guiHelper->resetCamera( clientCmd.m_configureOpenGLVisualizerArguments.m_cameraDistance,
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraPitch,
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraYaw,
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[0],
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[1],
clientCmd.m_configureOpenGLVisualizerArguments.m_cameraTargetPosition[2]);
}
break;
}
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
{
SharedMemoryStatus& serverCmd =serverStatusOut;

7
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -504,6 +504,13 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
public:
void setVisualizerFlag(int flag, int enable)
{
m_childGuiHelper->setVisualizerFlag(flag,enable);
}
GUIHelperInterface* m_childGuiHelper;
int m_uidGenerator;

18
examples/SharedMemory/SharedMemoryCommands.h
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@@ -643,6 +643,23 @@ struct StateLoggingResultArgs
int m_loggingUniqueId;
};
enum InternalOpenGLVisualizerUpdateFlags
{
COV_SET_CAMERA_VIEW_MATRIX=1,
COV_SET_FLAGS=2,
};
struct ConfigureOpenGLVisualizerRequest
{
double m_cameraDistance;
double m_cameraPitch;
double m_cameraYaw;
double m_cameraTargetPosition[3];
int m_setFlag;
int m_setEnabled;
};
struct SharedMemoryCommand
{
int m_type;
@@ -685,6 +702,7 @@ struct SharedMemoryCommand
struct LoadBunnyArgs m_loadBunnyArguments;
struct VRCameraState m_vrCameraStateArguments;
struct StateLoggingRequest m_stateLoggingArguments;
struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
};
};

8
examples/SharedMemory/SharedMemoryPublic.h
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@@ -49,6 +49,7 @@ enum EnumSharedMemoryClientCommand
CMD_SET_VR_CAMERA_STATE,
CMD_SYNC_BODY_INFO,
CMD_STATE_LOGGING,
CMD_CONFIGURE_OPENGL_VISUALIZER,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -126,6 +127,7 @@ enum EnumSharedMemoryServerStatus
CMD_STATE_LOGGING_COMPLETED,
CMD_STATE_LOGGING_START_COMPLETED,
CMD_STATE_LOGGING_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -398,4 +400,10 @@ enum EnumRenderer
//ER_FIRE_RAYS=(1<<18),
};
enum EnumConfigureOpenGLVisualizer
{
COV_ENABLE_GUI=1,
COV_ENABLE_SHADOWS,
COV_ENABLE_WIREFRAME,
};
#endif//SHARED_MEMORY_PUBLIC_H

41
examples/pybullet/pybullet.c
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@@ -2619,7 +2619,6 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyObject *keywds)
{
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
int statusType;
@@ -2958,6 +2957,36 @@ static PyObject* pybullet_getVREvents(PyObject* self, PyObject* args, PyObject *
}
static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* args, PyObject *keywds)
{
int flag=1;
int enable = -1;
int physicsClientId = 0;
b3PhysicsClientHandle sm=0;
static char *kwlist[] = { "flag", "enable", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|i", kwlist,
&flag, &enable, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(sm);
b3ConfigureOpenGLVisualizerSetVisualizationFlags(commandHandle, flag, enable);
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject *keywds)
{
@@ -5051,6 +5080,10 @@ static PyMethodDef SpamMethods[] = {
"If you ommit the color, the custom color will be removed."
},
{ "configureDebugVisualizer", (PyCFunction)pybullet_configureDebugVisualizer, METH_VARARGS | METH_KEYWORDS,
"For the 3D OpenGL Visualizer, enable/disable GUI, shadows. Set the camera parameters."
},
{"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS| METH_KEYWORDS,
"Return the visual shape information for one object." },
@@ -5188,6 +5221,12 @@ initpybullet(void)
PyModule_AddIntConstant(m, "STATE_LOGGING_GENERIC_ROBOT", STATE_LOGGING_GENERIC_ROBOT);
PyModule_AddIntConstant(m, "STATE_LOGGING_VR_CONTROLLERS", STATE_LOGGING_VR_CONTROLLERS);
PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);
PyModule_AddIntConstant(m, "COV_ENABLE_WIREFRAME", COV_ENABLE_WIREFRAME);
SpamError = PyErr_NewException("pybullet.error", NULL, NULL);
Py_INCREF(SpamError);
PyModule_AddObject(m, "error", SpamError);