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[pybullet] implement addUserDebugParameter / readUserDebugParameter

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fix inertial frame for door.urdf
allow picking of links of multi-bodies with a fixed base
This commit is contained in:
Erwin Coumans
2017-01-17 15:42:32 -08:00
parent 966ebb04fe
commit 52761f5578
14 changed files with 270 additions and 13 deletions
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51
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1338,6 +1338,55 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle p
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle physClient, const char* txt, double rangeMin, double rangeMax, double startValue)
{
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_ADD_PARAMETER;
int len = strlen(txt);
if (len<MAX_FILENAME_LENGTH)
{
strcpy(command->m_userDebugDrawArgs.m_text,txt);
} else
{
command->m_userDebugDrawArgs.m_text[0] = 0;
}
command->m_userDebugDrawArgs.m_rangeMin = rangeMin;
command->m_userDebugDrawArgs.m_rangeMax = rangeMax;
command->m_userDebugDrawArgs.m_startValue = startValue;
return (b3SharedMemoryCommandHandle)command;
}
b3SharedMemoryCommandHandle b3InitUserDebugReadParameter(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_READ_PARAMETER;
command->m_userDebugDrawArgs.m_itemUniqueId = debugItemUniqueId;
return (b3SharedMemoryCommandHandle) command;
}
int b3GetStatusDebugParameterValue(b3SharedMemoryStatusHandle statusHandle, double* paramValue)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED);
if (paramValue && (status->m_type == CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED))
{
*paramValue = status->m_userDebugDrawArgs.m_parameterValue;
return 1;
}
return 0;
}
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -1347,7 +1396,7 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle phys
b3Assert(command);
command->m_type =CMD_USER_DEBUG_DRAW;
command->m_updateFlags = USER_DEBUG_REMOVE_ONE_ITEM;
command->m_userDebugDrawArgs.m_removeItemUniqueId = debugItemUniqueId;
command->m_userDebugDrawArgs.m_itemUniqueId = debugItemUniqueId;
return (b3SharedMemoryCommandHandle) command;
}

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -93,6 +93,10 @@ 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);
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime);
b3SharedMemoryCommandHandle b3InitUserDebugAddParameter(b3PhysicsClientHandle physClient, const char* txt, double rangeMin, double rangeMax, double startValue);
b3SharedMemoryCommandHandle b3InitUserDebugReadParameter(b3PhysicsClientHandle physClient, int debugItemUniqueId);
int b3GetStatusDebugParameterValue(b3SharedMemoryStatusHandle statusHandle, double* paramValue);
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId);
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient);

1
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -792,6 +792,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
b3Warning("Save .bullet failed");
break;
}
case CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED:
case CMD_USER_DEBUG_DRAW_COMPLETED:
{
break;

29
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4042,7 +4042,28 @@ 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_ADD_PARAMETER)
{
int uid = m_data->m_guiHelper->addUserDebugParameter(
clientCmd.m_userDebugDrawArgs.m_text,
clientCmd.m_userDebugDrawArgs.m_rangeMin,
clientCmd.m_userDebugDrawArgs.m_rangeMax,
clientCmd.m_userDebugDrawArgs.m_startValue
);
serverCmd.m_userDebugDrawArgs.m_debugItemUniqueId = uid;
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
if (clientCmd.m_updateFlags &USER_DEBUG_READ_PARAMETER)
{
int ok = m_data->m_guiHelper->readUserDebugParameter(
clientCmd.m_userDebugDrawArgs.m_itemUniqueId,
&serverCmd.m_userDebugDrawArgs.m_parameterValue);
if (ok)
{
serverCmd.m_type = CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED;
}
}
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;
@@ -4131,7 +4152,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_ONE_ITEM)
{
m_data->m_guiHelper->removeUserDebugItem(clientCmd.m_userDebugDrawArgs.m_removeItemUniqueId);
m_data->m_guiHelper->removeUserDebugItem(clientCmd.m_userDebugDrawArgs.m_itemUniqueId);
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
@@ -4229,7 +4250,7 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
} else
{
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
if (multiCol && multiCol->m_multiBody && multiCol->m_multiBody->getBaseMass()>0.)
if (multiCol && multiCol->m_multiBody)
{
m_data->m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
@@ -4483,6 +4504,8 @@ void PhysicsServerCommandProcessor::resetSimulation()
m_data->m_visualConverter.resetAll();
}
removePickingConstraint();
deleteDynamicsWorld();
createEmptyDynamicsWorld();

62
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -176,6 +176,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperAutogenerateGraphicsObjects,
eGUIUserDebugAddText,
eGUIUserDebugAddLine,
eGUIUserDebugAddParameter,
eGUIUserDebugRemoveItem,
eGUIUserDebugRemoveAllItems,
};
@@ -481,6 +482,15 @@ struct UserDebugDrawLine
int m_itemUniqueId;
};
struct UserDebugParameter
{
char m_text[1024];
double m_rangeMin;
double m_rangeMax;
double m_value;
int m_itemUniqueId;
};
struct UserDebugText
{
char m_text[1024];
@@ -807,8 +817,6 @@ public:
}
btAlignedObjectArray<UserDebugText> m_userDebugText;
UserDebugText m_tmpText;
@@ -835,6 +843,38 @@ public:
return m_userDebugText[m_userDebugText.size()-1].m_itemUniqueId;
}
btAlignedObjectArray<UserDebugParameter*> m_userDebugParams;
UserDebugParameter m_tmpParam;
virtual int readUserDebugParameter(int itemUniqueId, double* value)
{
for (int i=0;i<m_userDebugParams.size();i++)
{
if (m_userDebugParams[i]->m_itemUniqueId == itemUniqueId)
{
*value = m_userDebugParams[i]->m_value;
return 1;
}
}
return 0;
}
virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue)
{
strcpy(m_tmpParam.m_text,txt);
m_tmpParam.m_rangeMin = rangeMin;
m_tmpParam.m_rangeMax = rangeMax;
m_tmpParam.m_value = startValue;
m_tmpParam.m_itemUniqueId = m_uidGenerator++;
m_cs->lock();
m_cs->setSharedParam(1, eGUIUserDebugAddParameter);
workerThreadWait();
return (*m_userDebugParams[m_userDebugParams.size()-1]).m_itemUniqueId;
}
btAlignedObjectArray<UserDebugDrawLine> m_userDebugLines;
UserDebugDrawLine m_tmpLine;
@@ -1407,6 +1447,24 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddParameter:
{
UserDebugParameter* param = new UserDebugParameter(m_multiThreadedHelper->m_tmpParam);
m_multiThreadedHelper->m_userDebugParams.push_back(param);
{
SliderParams slider(param->m_text,&param->m_value);
slider.m_minVal=param->m_rangeMin;
slider.m_maxVal=param->m_rangeMax;
if (m_multiThreadedHelper->m_childGuiHelper->getParameterInterface())
m_multiThreadedHelper->m_childGuiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
//also add actual menu
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddLine:
{
m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine);

9
examples/SharedMemory/SharedMemoryCommands.h
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@@ -571,6 +571,8 @@ enum EnumUserDebugDrawFlags
USER_DEBUG_REMOVE_ALL=8,
USER_DEBUG_SET_CUSTOM_OBJECT_COLOR = 16,
USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32,
USER_DEBUG_ADD_PARAMETER=64,
USER_DEBUG_READ_PARAMETER=128,
};
@@ -582,13 +584,17 @@ struct UserDebugDrawArgs
double m_lineWidth;
double m_lifeTime;
int m_removeItemUniqueId;
int m_itemUniqueId;
char m_text[MAX_FILENAME_LENGTH];
double m_textPositionXYZ[3];
double m_textColorRGB[3];
double m_textSize;
double m_rangeMin;
double m_rangeMax;
double m_startValue;
double m_objectDebugColorRGB[3];
int m_objectUniqueId;
int m_linkIndex;
@@ -599,6 +605,7 @@ struct UserDebugDrawArgs
struct UserDebugDrawResultArgs
{
int m_debugItemUniqueId;
double m_parameterValue;
};
struct SendVREvents

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -109,6 +109,7 @@ enum EnumSharedMemoryServerStatus
CMD_LOAD_TEXTURE_COMPLETED,
CMD_LOAD_TEXTURE_FAILED,
CMD_USER_DEBUG_DRAW_COMPLETED,
CMD_USER_DEBUG_DRAW_PARAMETER_COMPLETED,
CMD_USER_DEBUG_DRAW_FAILED,
CMD_USER_CONSTRAINT_COMPLETED,
CMD_USER_CONSTRAINT_FAILED,