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export btHeightfieldTerrainShape to PyBullet. Note that tinyrenderer doesn't support rendering it (it would be too slow on CPU)

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fix rare getKeyboardEvents threading issue
change texture color to default plane.urdf blue
This commit is contained in:
Erwin Coumans
2019-07-29 20:23:38 -07:00
parent 36f3adc03f
commit 51fba6f78d
14 changed files with 286 additions and 71 deletions
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28
examples/pybullet/examples/heightfield.py
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@@ -1,9 +1,27 @@
import pybullet as p
import pybullet_data as pd
import time
p.connect(p.GUI)
p.createCollisionShape(p.GEOM_HEIGHTFIELD)
p.createMultiBody(0, 0)
p.setAdditionalSearchPath(pd.getDataPath())
textureId = -1
useDeepLocoCSV = False
if useDeepLocoCSV:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)#Image8x4.png")#wm_height_out.png")
terrain = p.createMultiBody(0, terrainShape)
p.resetBasePositionAndOrientation(terrain,[-8,0,-2], [0,0,0,1])
else:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
terrain = p.createMultiBody(0, terrainShape)
p.changeVisualShape(terrain, -1, textureUniqueId = textureId)
p.changeVisualShape(terrain, -1, rgbaColor=[1,1,1,1])
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE, radius=sphereRadius)
@@ -28,7 +46,7 @@ for i in range(3):
for j in range(3):
for k in range(3):
basePosition = [
1 + i * 5 * sphereRadius, 1 + j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
i * 5 * sphereRadius, j * 5 * sphereRadius, 1 + k * 5 * sphereRadius + 1
]
baseOrientation = [0, 0, 0, 1]
if (k & 2):
@@ -51,6 +69,7 @@ for i in range(3):
linkJointTypes=jointTypes,
linkJointAxis=axis)
p.changeDynamics(sphereUid,
-1,
spinningFriction=0.001,
@@ -69,5 +88,6 @@ for i in range(p.getNumJoints(sphereUid)):
while (1):
keys = p.getKeyboardEvents()
print(keys)
#getCameraImage note: software/TinyRenderer doesn't render/support heightfields!
#p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
time.sleep(0.01)

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examples/pybullet/gym/pybullet_data/heightmaps/Image8x4.png Normal file
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17
examples/pybullet/pybullet.c
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@@ -7967,14 +7967,14 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
double collisionFrameOrientation[4] = {0, 0, 0, 1};
char* fileName = 0;
int flags = 0;
double heightfieldTextureScaling = 1;
PyObject* halfExtentsObj = 0;
PyObject* verticesObj = 0;
PyObject* indicesObj = 0;
static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "vertices", "indices", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOi", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &physicsClientId))
static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "vertices", "indices", "heightfieldTextureScaling", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdi", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &physicsClientId))
{
return NULL;
}
@@ -8010,6 +8010,15 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
{
shapeIndex = b3CreateCollisionShapeAddCylinder(commandHandle, radius, height);
}
if (shapeType == GEOM_HEIGHTFIELD && fileName)
{
if (meshScaleObj)
{
pybullet_internalSetVectord(meshScaleObj, meshScale);
}
shapeIndex = b3CreateCollisionShapeAddHeightfield(commandHandle, fileName, meshScale, heightfieldTextureScaling);
}
if (shapeType == GEOM_MESH && fileName)
{
pybullet_internalSetVectord(meshScaleObj, meshScale);