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add single step simulation, using 'o' key. use 'i' key to suspend simulation first

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default background color a bit darker, to show debug lines
tweaked contact point rendering a bit
This commit is contained in:
erwin coumans
2016-08-19 10:30:02 -07:00
parent a68c9ca845
commit 62d5b7c5c0
9 changed files with 174 additions and 122 deletions
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6
examples/CommonInterfaces/CommonGraphicsAppInterface.h
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@@ -66,9 +66,9 @@ struct CommonGraphicsApp
m_mouseYpos(0.f),
m_mouseInitialized(false)
{
m_backgroundColorRGB[0] = 0.9;
m_backgroundColorRGB[1] = 0.9;
m_backgroundColorRGB[2] = 1;
m_backgroundColorRGB[0] = 0.7;
m_backgroundColorRGB[1] = 0.7;
m_backgroundColorRGB[2] = 0.8;
}
virtual ~CommonGraphicsApp()
{

11
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -123,6 +123,7 @@ static bool enable_experimental_opencl = false;
int gDebugDrawFlags = 0;
static bool pauseSimulation=false;
static bool singleStepSimulation = false;
int midiBaseIndex = 176;
extern bool gDisableDeactivation;
@@ -227,6 +228,12 @@ void MyKeyboardCallback(int key, int state)
{
pauseSimulation = !pauseSimulation;
}
if (key == 'o' && state)
{
singleStepSimulation = true;
}
#ifndef NO_OPENGL3
if (key=='s' && state)
{
@@ -1124,12 +1131,12 @@ void OpenGLExampleBrowser::update(float deltaTime)
if (sCurrentDemo)
{
if (!pauseSimulation)
if (!pauseSimulation || singleStepSimulation)
{
singleStepSimulation = false;
//printf("---------------------------------------------------\n");
//printf("Framecount = %d\n",frameCount);
if (gFixedTimeStep>0)
{
sCurrentDemo->stepSimulation(gFixedTimeStep);

5
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -84,7 +84,10 @@ public:
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
drawLine(PointOnB,PointOnB+normalOnB,color);
drawLine(PointOnB,PointOnB+normalOnB*distance,color);
btVector3 red(0.3, 1., 0.3);
drawLine(PointOnB, PointOnB + normalOnB*0.01, red);
}

22
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -58,7 +58,7 @@ public:
virtual void physicsDebugDraw(int debugDrawMode)
{
m_robotSim.debugDraw(debugDrawMode);
}
virtual void initPhysics()
{
@@ -81,6 +81,15 @@ public:
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0, 0, .107);
args.m_startOrientation.setEulerZYX(0, 0, 0);
args.m_useMultiBody = true;
m_robotSim.loadFile(args, results);
}
{
b3RobotSimLoadFileArgs args("");
@@ -129,15 +138,7 @@ public:
}
}
}
{
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
args.m_fileName = "cube_small.urdf";
args.m_startPosition.setValue(0,0,.107);
args.m_startOrientation.setEulerZYX(0,0,0);
args.m_useMultiBody = false;
m_robotSim.loadFile(args,results);
}
if (1)
{
b3RobotSimLoadFileArgs args("");
@@ -186,6 +187,7 @@ public:
m_robotSim.renderScene();
//m_app->m_renderer->renderScene();
}

123
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -7,15 +7,15 @@
//#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsServerSharedMemory.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/PhysicsDirect.h"
#include <string>
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
@@ -406,24 +406,27 @@ public:
struct b3RobotSimAPI_InternalData
{
//GUIHelperInterface* m_guiHelper;
PhysicsServerSharedMemory m_physicsServer;
b3PhysicsClientHandle m_physicsClient;
b3ThreadSupportInterface* m_threadSupport;
RobotSimArgs m_args[MAX_ROBOT_NUM_THREADS];
MultiThreadedOpenGLGuiHelper2* m_multiThreadedHelper;
PhysicsDirect* m_clientServerDirect;
bool m_useMultiThreading;
bool m_connected;
b3RobotSimAPI_InternalData()
:m_multiThreadedHelper(0),
:m_threadSupport(0),
m_multiThreadedHelper(0),
m_clientServerDirect(0),
m_physicsClient(0),
m_useMultiThreading(false),
m_connected(false)
{
}
@@ -464,6 +467,9 @@ b3RobotSimAPI::~b3RobotSimAPI()
void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
{
if (0==m_data->m_multiThreadedHelper)
return;
switch (m_data->m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
{
case eRobotSimGUIHelperCreateCollisionShapeGraphicsObject:
@@ -563,27 +569,6 @@ void b3RobotSimAPI::processMultiThreadedGraphicsRequests()
}
}
#if 0
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
while (rtc.getTimeMilliseconds()<endTime)
{
m_physicsServer.processClientCommands();
}
} else
{
//for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
#endif
}
b3SharedMemoryStatusHandle b3RobotSimAPI::submitClientCommandAndWaitStatusMultiThreaded(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle)
@@ -733,18 +718,20 @@ bool b3RobotSimAPI::loadFile(const struct b3RobotSimLoadFileArgs& args, b3RobotS
bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);
if (m_data->m_useMultiThreading)
{
m_data->m_multiThreadedHelper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(),guiHelper);
MultiThreadedOpenGLGuiHelper2* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper2(guiHelper->getAppInterface(), guiHelper);
m_data->m_threadSupport = createRobotSimThreadSupport(MAX_ROBOT_NUM_THREADS);
for (int i=0;i<m_data->m_threadSupport->getNumTasks();i++)
for (int i = 0; i < m_data->m_threadSupport->getNumTasks(); i++)
{
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*) m_data->m_threadSupport->getThreadLocalMemory(i);
RobotSimThreadLocalStorage* storage = (RobotSimThreadLocalStorage*)m_data->m_threadSupport->getThreadLocalMemory(i);
b3Assert(storage);
storage->threadId = i;
//storage->m_sharedMem = data->m_sharedMem;
@@ -753,54 +740,66 @@ bool b3RobotSimAPI::connect(GUIHelperInterface* guiHelper)
for (int w=0;w<MAX_ROBOT_NUM_THREADS;w++)
for (int w = 0; w < MAX_ROBOT_NUM_THREADS; w++)
{
m_data->m_args[w].m_cs = m_data->m_threadSupport->createCriticalSection();
m_data->m_args[w].m_cs->setSharedParam(0,eRobotSimIsUnInitialized);
m_data->m_args[w].m_cs->setSharedParam(0, eRobotSimIsUnInitialized);
int numMoving = 0;
m_data->m_args[w].m_positions.resize(numMoving);
m_data->m_args[w].m_physicsServerPtr = &m_data->m_physicsServer;
int index = 0;
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*) &m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0)==eRobotSimIsUnInitialized)
m_data->m_threadSupport->runTask(B3_THREAD_SCHEDULE_TASK, (void*)&m_data->m_args[w], w);
while (m_data->m_args[w].m_cs->getSharedParam(0) == eRobotSimIsUnInitialized)
{
}
}
m_data->m_args[0].m_cs->setSharedParam(1,eRobotSimGUIHelperIdle);
m_data->m_args[0].m_cs->setSharedParam(1, eRobotSimGUIHelperIdle);
m_data->m_multiThreadedHelper->setCriticalSection(m_data->m_args[0].m_cs);
m_data->m_connected = m_data->m_physicsServer.connectSharedMemory( m_data->m_multiThreadedHelper);
b3Assert(m_data->m_connected);
bool serverConnected = m_data->m_physicsServer.connectSharedMemory(m_data->m_multiThreadedHelper);
b3Assert(serverConnected);
m_data->m_physicsClient = b3ConnectSharedMemory(SHARED_MEMORY_KEY);
int canSubmit = b3CanSubmitCommand(m_data->m_physicsClient);
b3Assert(canSubmit);
return m_data->m_connected && canSubmit;
}
else
{
m_data->m_clientServerDirect = new PhysicsDirect();
bool connected = m_data->m_clientServerDirect->connect(guiHelper);
m_data->m_physicsClient = (b3PhysicsClientHandle)m_data->m_clientServerDirect;
}
//client connected
m_data->m_connected = b3CanSubmitCommand(m_data->m_physicsClient);
b3Assert(m_data->m_connected);
return m_data->m_connected && m_data->m_connected;
}
void b3RobotSimAPI::disconnect()
{
for (int i=0;i<MAX_ROBOT_NUM_THREADS;i++)
if (m_data->m_useMultiThreading)
{
for (int i = 0; i < MAX_ROBOT_NUM_THREADS; i++)
{
m_data->m_args[i].m_cs->lock();
m_data->m_args[i].m_cs->setSharedParam(0,eRequestTerminateRobotSim);
m_data->m_args[i].m_cs->setSharedParam(0, eRequestTerminateRobotSim);
m_data->m_args[i].m_cs->unlock();
}
int numActiveThreads = MAX_ROBOT_NUM_THREADS;
while (numActiveThreads)
{
int arg0,arg1;
if (m_data->m_threadSupport->isTaskCompleted(&arg0,&arg1,0))
int arg0, arg1;
if (m_data->m_threadSupport->isTaskCompleted(&arg0, &arg1, 0))
{
numActiveThreads--;
printf("numActiveThreads = %d\n",numActiveThreads);
printf("numActiveThreads = %d\n", numActiveThreads);
} else
}
else
{
}
};
@@ -809,18 +808,34 @@ void b3RobotSimAPI::disconnect()
delete m_data->m_threadSupport;
m_data->m_threadSupport = 0;
}
b3DisconnectSharedMemory(m_data->m_physicsClient);
m_data->m_physicsServer.disconnectSharedMemory(true);
m_data->m_connected = false;
}
void b3RobotSimAPI::debugDraw(int debugDrawMode)
{
if (m_data->m_clientServerDirect)
{
m_data->m_clientServerDirect->debugDraw(debugDrawMode);
}
}
void b3RobotSimAPI::renderScene()
{
if (m_data->m_useMultiThreading)
{
if (m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
{
m_data->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->writeTransforms();
}
}
if (m_data->m_clientServerDirect)
{
m_data->m_clientServerDirect->renderScene();
}
m_data->m_physicsServer.renderScene();
}

1
examples/RoboticsLearning/b3RobotSimAPI.h
View File

@@ -95,6 +95,7 @@ public:
void setGravity(const b3Vector3& gravityAcceleration);
void renderScene();
void debugDraw(int debugDrawMode);
};
#endif //B3_ROBOT_SIM_API_H

18
examples/SharedMemory/PhysicsDirect.cpp
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@@ -69,9 +69,27 @@ PhysicsDirect::~PhysicsDirect()
bool PhysicsDirect::connect()
{
m_data->m_commandProcessor->setGuiHelper(&m_data->m_noGfx);
return true;
}
// return true if connection succesfull, can also check 'isConnected'
bool PhysicsDirect::connect(struct GUIHelperInterface* guiHelper)
{
m_data->m_commandProcessor->setGuiHelper(guiHelper);
return true;
}
void PhysicsDirect::renderScene()
{
m_data->m_commandProcessor->renderScene();
}
void PhysicsDirect::debugDraw(int debugDrawMode)
{
m_data->m_commandProcessor->physicsDebugDraw(debugDrawMode);
}
////todo: rename to 'disconnect'
void PhysicsDirect::disconnectSharedMemory()
{

6
examples/SharedMemory/PhysicsDirect.h
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@@ -30,6 +30,7 @@ public:
virtual ~PhysicsDirect();
// return true if connection succesfull, can also check 'isConnected'
//it is OK to pass a null pointer for the gui helper
virtual bool connect();
////todo: rename to 'disconnect'
@@ -63,6 +64,11 @@ public:
virtual void getCachedCameraImage(b3CameraImageData* cameraData);
//those 2 APIs are for internal use for visualization
virtual bool connect(struct GUIHelperInterface* guiHelper);
virtual void renderScene();
virtual void debugDraw(int debugDrawMode);
};
#endif //PHYSICS_DIRECT_H

6
src/LinearMath/btIDebugDraw.h
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@@ -166,9 +166,9 @@ class btIDebugDraw
virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
{
btVector3 start = transform.getOrigin();
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0));
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(1.f,0.3,0.3));
drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0.3,1.f, 0.3));
drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0.3, 0.3,1.f));
}
virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle,