Merge pull request #868 from erwincoumans/master

pybullet/shmem API: setDebugObjectColor

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -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)

examples/SharedMemory/PhysicsClientC_API.h

@@ -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]);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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);
@@ -3600,6 +3599,53 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						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)
 						{

examples/SharedMemory/SharedMemoryCommands.h

@@ -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;
 };
 
 

examples/pybullet/pybullet.c

@@ -1648,6 +1648,43 @@ static PyObject* pybullet_removeAllUserDebugItems(PyObject* self, PyObject* args
 	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,

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -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
 	{

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -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))