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PyBullet OpenGL/EGL hardware getCameraImage: use glViewport to reduce the glReadPixels calling cost dramatically for small images

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PyBullet Allow OpenGL/EGL hardware to render segmentation mask. Use pybullet.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX or pybullet.ER_SEGMENTATION_MASK
PyBullet.removeBody fix indexing bug (use foundIndex, not i)
PyBullet bump up version to 2.2.3
This commit is contained in:
erwincoumans
2018-09-30 07:10:40 -07:00
parent 254edb61cb
commit 5bcd43711a
32 changed files with 746 additions and 189 deletions
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96
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1631,6 +1631,7 @@ struct PhysicsServerCommandProcessorInternalData
MyBroadphaseCallback m_cachedOverlappingObjects;
btAlignedObjectArray<int> m_sdfRecentLoadedBodies;
btAlignedObjectArray<int> m_graphicsIndexToSegmentationMask;
btAlignedObjectArray<InternalStateLogger*> m_stateLoggers;
int m_stateLoggersUniqueId;
@@ -1725,6 +1726,7 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif //ENABLE_STATIC_GRPC_PLUGIN
#ifdef STATIC_EGLRENDERER_PLUGIN
{
bool initPlugin = false;
@@ -1733,12 +1735,15 @@ struct PhysicsServerCommandProcessorInternalData
}
#endif //STATIC_EGLRENDERER_PLUGIN
#ifndef SKIP_STATIC_TINYRENDERER_PLUGIN
{
int renderPluginId = m_pluginManager.registerStaticLinkedPlugin("tinyRendererPlugin", initPlugin_tinyRendererPlugin, exitPlugin_tinyRendererPlugin, executePluginCommand_tinyRendererPlugin, 0, 0, getRenderInterface_tinyRendererPlugin, 0, 0);
m_pluginManager.selectPluginRenderer(renderPluginId);
}
#endif
}
m_vrControllerEvents.init();
@@ -2607,6 +2612,7 @@ void PhysicsServerCommandProcessor::deleteDynamicsWorld()
m_data->m_meshInterfaces.clear();
m_data->m_collisionShapes.clear();
m_data->m_bulletCollisionShape2UrdfCollision.clear();
m_data->m_graphicsIndexToSegmentationMask.clear();
delete m_data->m_dynamicsWorld;
m_data->m_dynamicsWorld = 0;
@@ -2737,12 +2743,33 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
if (mb)
mb->setUserIndex2(bodyUniqueId);
if (mb)
{
bodyHandle->m_multiBody = mb;
m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId);
int segmentationMask = bodyUniqueId;
{
int graphicsIndex = -1;
if (mb->getBaseCollider())
{
graphicsIndex = mb->getBaseCollider()->getUserIndex();
}
if (graphicsIndex>=0)
{
if (m_data->m_graphicsIndexToSegmentationMask.size()<(graphicsIndex+1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex+1);
}
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex]= segmentationMask;
}
}
createJointMotors(mb);
#ifdef B3_ENABLE_TINY_AUDIO
@@ -2780,6 +2807,24 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
mb->getLink(i).m_linkName = linkName->c_str();
{
int graphicsIndex = -1;
if (mb->getLinkCollider(i))
{
graphicsIndex = mb->getLinkCollider(i)->getUserIndex();
}
if (graphicsIndex>=0)
{
int linkIndex = i;
if (m_data->m_graphicsIndexToSegmentationMask.size()<(graphicsIndex+1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex+1);
}
int segmentationMask = bodyUniqueId + ((linkIndex + 1) << 24);
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex]= segmentationMask;
}
}
std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str());
m_data->m_strings.push_back(jointName);
@@ -2808,6 +2853,23 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
}
else
{
int segmentationMask = bodyUniqueId;
if (rb)
{
int graphicsIndex = -1;
{
graphicsIndex = rb->getUserIndex();
}
if (graphicsIndex>=0)
{
if (m_data->m_graphicsIndexToSegmentationMask.size()<(graphicsIndex+1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex+1);
}
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex]= segmentationMask;
}
}
//b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later.");
bodyHandle->m_rigidBody = rb;
rb->setUserIndex2(bodyUniqueId);
@@ -3462,6 +3524,10 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
this->m_data->m_guiHelper->setProjectiveTexture(false);
}
if ((flags & (ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX + ER_SEGMENTATION_MASK))==0)
{
segmentationMaskBuffer=0;
}
m_data->m_guiHelper->copyCameraImageData(viewMat,
projMat, pixelRGBA, numRequestedPixels,
depthBuffer, numRequestedPixels,
@@ -3470,11 +3536,36 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
if (numPixelsCopied > 0)
{
//convert segmentation mask
if (segmentationMaskBuffer)
{
for (int i=0;i<numPixelsCopied;i++)
{
int graphicsSegMask = segmentationMaskBuffer[i];
int segMask = -1;
if ((graphicsSegMask >= 0) && (graphicsSegMask<m_data->m_graphicsIndexToSegmentationMask.size()))
{
segMask = m_data->m_graphicsIndexToSegmentationMask[graphicsSegMask];
}
if ((flags & ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX) == 0)
{
if (segMask >= 0)
{
segMask &= ((1 << 24) - 1);
}
}
segmentationMaskBuffer[i] = segMask;
}
}
handled = true;
m_data->m_guiHelper->debugDisplayCameraImageData(viewMat,
projMat, pixelRGBA, numRequestedPixels,
depthBuffer, numRequestedPixels,
0, numRequestedPixels,
segmentationMaskBuffer, numRequestedPixels,
startPixelIndex, width, height, &numPixelsCopied);
}
}
@@ -8459,6 +8550,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
m_data->m_bodyHandles.freeHandle(bodyUniqueId);
}
}
for (int i = 0; i < clientCmd.m_removeObjectArgs.m_numUserCollisionShapes; i++)
{
int removeCollisionShapeId = clientCmd.m_removeObjectArgs.m_userCollisionShapes[i];
@@ -8492,7 +8584,7 @@ bool PhysicsServerCommandProcessor::processRemoveBodyCommand(const struct Shared
}
if (foundIndex >= 0)
{
btMultiBodyWorldImporter* importer = m_data->m_worldImporters[i];
btMultiBodyWorldImporter* importer = m_data->m_worldImporters[foundIndex];
m_data->m_worldImporters.removeAtIndex(foundIndex);
delete importer;
m_data->m_userCollisionShapeHandles.freeHandle(removeCollisionShapeId);