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Merge pull request #868 from erwincoumans/master

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pybullet/shmem API: setDebugObjectColor
This commit is contained in:
erwincoumans
2016-11-21 10:11:00 -08:00
committed by GitHub
parent 1f35697152 24c9020aac
commit 659e36102d
7 changed files with 169 additions and 5 deletions
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40
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1195,6 +1195,46 @@ int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle)
return status->m_userDebugDrawArgs.m_debugItemUniqueId;
}
b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient)
{
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 = 0;
return (b3SharedMemoryCommandHandle)command;
}
void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
command->m_updateFlags |= USER_DEBUG_SET_CUSTOM_OBJECT_COLOR;
command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId;
command->m_userDebugDrawArgs.m_linkIndex = linkIndex;
command->m_userDebugDrawArgs.m_objectDebugColorRGB[0] = objectColorRGB[0];
command->m_userDebugDrawArgs.m_objectDebugColorRGB[1] = objectColorRGB[1];
command->m_userDebugDrawArgs.m_objectDebugColorRGB[2] = objectColorRGB[2];
}
void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_DEBUG_DRAW);
command->m_updateFlags |= USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR;
command->m_userDebugDrawArgs.m_objectUniqueId = objectUniqueId;
command->m_userDebugDrawArgs.m_linkIndex = linkIndex;
}
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)

6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -89,9 +89,15 @@ b3SharedMemoryCommandHandle b3InitUserDebugDrawAddLine3D(b3PhysicsClientHandle p
b3SharedMemoryCommandHandle b3InitUserDebugDrawAddText3D(b3PhysicsClientHandle physClient, const char* txt, double positionXYZ[3], double colorRGB[3], double textSize, double lifeTime);
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemove(b3PhysicsClientHandle physClient, int debugItemUniqueId);
b3SharedMemoryCommandHandle b3InitUserDebugDrawRemoveAll(b3PhysicsClientHandle physClient);
b3SharedMemoryCommandHandle b3InitDebugDrawingCommand(b3PhysicsClientHandle physClient);
void b3SetDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex, double objectColorRGB[3]);
void b3RemoveDebugObjectColor(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId, int linkIndex);
///All debug items unique Ids are positive: a negative unique Id means failure.
int b3GetDebugItemUniqueId(b3SharedMemoryStatusHandle statusHandle);
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);

50
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3536,7 +3536,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
for( int i=0;i<numRb;i++)
{
btCollisionObject* colObj = importer->getRigidBodyByIndex(i);
if (colObj)
{
btRigidBody* rb = btRigidBody::upcast(colObj);
@@ -3599,7 +3598,54 @@ 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_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR))
{
int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId;
InteralBodyData* body = m_data->getHandle(bodyUniqueId);
if (body)
{
btCollisionObject* destColObj = 0;
if (body->m_multiBody)
{
if (clientCmd.m_userDebugDrawArgs.m_linkIndex == -1)
{
destColObj = body->m_multiBody->getBaseCollider();
}
else
{
if (clientCmd.m_userDebugDrawArgs.m_linkIndex >= 0 && clientCmd.m_userDebugDrawArgs.m_linkIndex < body->m_multiBody->getNumLinks())
{
destColObj = body->m_multiBody->getLink(clientCmd.m_userDebugDrawArgs.m_linkIndex).m_collider;
}
}
}
if (body->m_rigidBody)
{
destColObj = body->m_rigidBody;
}
if (destColObj)
{
if (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR)
{
destColObj->removeCustomDebugColor();
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
if (clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR)
{
btVector3 objectColorRGB;
objectColorRGB.setValue(clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[0],
clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[1],
clientCmd.m_userDebugDrawArgs.m_objectDebugColorRGB[2]);
destColObj->setCustomDebugColor(objectColorRGB);
serverCmd.m_type = CMD_USER_DEBUG_DRAW_COMPLETED;
}
}
}
}
if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT)
{

9
examples/SharedMemory/SharedMemoryCommands.h
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@@ -526,7 +526,10 @@ enum EnumUserDebugDrawFlags
USER_DEBUG_HAS_LINE=1,
USER_DEBUG_HAS_TEXT=2,
USER_DEBUG_REMOVE_ONE_ITEM=4,
USER_DEBUG_REMOVE_ALL=8
USER_DEBUG_REMOVE_ALL=8,
USER_DEBUG_SET_CUSTOM_OBJECT_COLOR = 16,
USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR = 32,
};
struct UserDebugDrawArgs
@@ -543,6 +546,10 @@ struct UserDebugDrawArgs
double m_textPositionXYZ[3];
double m_textColorRGB[3];
double m_textSize;
double m_objectDebugColorRGB[3];
int m_objectUniqueId;
int m_linkIndex;
};

43
examples/pybullet/pybullet.c
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@@ -1647,8 +1647,45 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_setDebugObjectColor(PyObject* self, PyObject* args, PyObject *keywds)
{
PyObject* objectColorRGBObj = 0;
double objectColorRGB[3];
int objectUniqueId = -1;
int linkIndex = -2;
static char *kwlist[] = { "objectUniqueId", "linkIndex","objectDebugColorRGB", NULL };
if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|O", kwlist,
&objectUniqueId, &linkIndex, &objectColorRGBObj))
return NULL;
if (objectColorRGBObj)
{
if (pybullet_internalSetVectord(objectColorRGBObj, objectColorRGB))
{
b3SharedMemoryCommandHandle commandHandle = b3InitDebugDrawingCommand(sm);
b3SetDebugObjectColor(commandHandle, objectUniqueId, linkIndex, objectColorRGB);
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
}
else
{
b3SharedMemoryCommandHandle commandHandle = b3InitDebugDrawingCommand(sm);
b3RemoveDebugObjectColor(commandHandle, objectUniqueId, linkIndex);
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args)
{
@@ -3427,6 +3464,10 @@ static PyMethodDef SpamMethods[] = {
"remove all user debug draw items"
},
{ "setDebugObjectColor", (PyCFunction)pybullet_setDebugObjectColor, METH_VARARGS | METH_KEYWORDS,
"Override the wireframe debug drawing color for a particular object unique id / link index."
"If you ommit the color, the custom color will be removed."
},
{"getVisualShapeData", pybullet_getVisualShapeData, METH_VARARGS,

24
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -122,6 +122,7 @@ protected:
///internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.
int m_updateRevision;
btVector3 m_customDebugColorRGB;
public:
@@ -136,7 +137,8 @@ public:
CF_CHARACTER_OBJECT = 16,
CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
CF_DISABLE_SPU_COLLISION_PROCESSING = 64,//disable parallel/SPU processing
CF_HAS_CONTACT_STIFFNESS_DAMPING = 128
CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
};
enum CollisionObjectTypes
@@ -556,6 +558,26 @@ public:
return m_updateRevision;
}
void setCustomDebugColor(const btVector3& colorRGB)
{
m_customDebugColorRGB = colorRGB;
m_collisionFlags |= CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
}
void removeCustomDebugColor()
{
m_collisionFlags &= ~CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR;
}
bool getCustomDebugColor(btVector3& colorRGB) const
{
bool hasCustomColor = (0!=(m_collisionFlags&CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR));
if (hasCustomColor)
{
colorRGB = m_customDebugColorRGB;
}
return hasCustomColor;
}
inline bool checkCollideWith(const btCollisionObject* co) const
{

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -1572,6 +1572,8 @@ void btCollisionWorld::debugDrawWorld()
}
};
colObj->getCustomDebugColor(color);
debugDrawObject(colObj->getWorldTransform(),colObj->getCollisionShape(),color);
}
if (m_debugDrawer && (m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_DrawAabb))