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Merge pull request #1216 from erwincoumans/master

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implement pybullet.changeTexture, fix loadTexture for OpenGL
This commit is contained in:
erwincoumans
2017-06-30 21:07:28 -07:00
committed by GitHub
parent 6dfb320b8f 88897cc744
commit 743d69ef69
20 changed files with 599 additions and 106 deletions
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4
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -40,7 +40,11 @@ struct GUIHelperInterface
virtual void removeGraphicsInstance(int graphicsUid) {}
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height){}
virtual int getShapeIndexFromInstance(int instanceUid){return -1;}
virtual void replaceTexture(int shapeIndex, int textureUid){}
virtual Common2dCanvasInterface* get2dCanvasInterface()=0;

3
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -70,6 +70,9 @@ struct CommonRenderInterface
virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true)=0;
virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true)=0;
virtual void activateTexture(int textureIndex)=0;
virtual void replaceTexture(int shapeIndex, int textureIndex){};
virtual int getShapeIndexFromInstance(int srcIndex) {return -1;}
virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)=0;

18
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -292,6 +292,12 @@ int OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int
return textureId;
}
void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* texels, int width, int height)
{
bool flipPixelsY = true;
m_data->m_glApp->m_renderer->updateTexture(textureUniqueId, texels,flipPixelsY);
}
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{
@@ -318,6 +324,18 @@ void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
};
}
int OpenGLGuiHelper::getShapeIndexFromInstance(int instanceUid)
{
return m_data->m_glApp->m_renderer->getShapeIndexFromInstance(instanceUid);
}
void OpenGLGuiHelper::replaceTexture(int shapeIndex, int textureUid)
{
if (shapeIndex>=0)
{
m_data->m_glApp->m_renderer->replaceTexture(shapeIndex, textureUid);
};
}
void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
{
if (instanceUid>=0)

4
examples/ExampleBrowser/OpenGLGuiHelper.h
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@@ -28,6 +28,10 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void removeGraphicsInstance(int graphicsUid);
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height);
virtual int getShapeIndexFromInstance(int instanceUid);
virtual void replaceTexture(int shapeIndex, int textureUid);
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);

3
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -156,7 +156,8 @@ struct UrdfLink
UrdfLink()
:m_parentLink(0),
m_parentJoint(0)
m_parentJoint(0),
m_linkIndex(-2)
{
}

61
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -117,13 +117,14 @@ GLint lineWidthRange[2]={1,1};
enum
{
eGfxTransparency=1
eGfxTransparency=1,
};
struct b3GraphicsInstance
{
GLuint m_cube_vao;
GLuint m_index_vbo;
GLuint m_texturehandle;
GLuint m_textureIndex;
int m_numIndices;
int m_numVertices;
@@ -141,7 +142,7 @@ struct b3GraphicsInstance
b3GraphicsInstance()
:m_cube_vao(-1),
m_index_vbo(-1),
m_texturehandle(0),
m_textureIndex(-1),
m_numIndices(-1),
m_numVertices(-1),
m_numGraphicsInstances(0),
@@ -188,6 +189,7 @@ struct InternalTextureHandle
GLuint m_glTexture;
int m_width;
int m_height;
int m_enableFiltering;
};
struct b3PublicGraphicsInstanceData
@@ -392,6 +394,15 @@ GLInstancingRenderer::~GLInstancingRenderer()
int GLInstancingRenderer::getShapeIndexFromInstance(int srcIndex)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex);
if (pg)
{
return pg->m_shapeIndex;
}
return -1;
}
@@ -945,7 +956,7 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
h.m_glTexture = textureHandle;
h.m_width = width;
h.m_height = height;
h.m_enableFiltering = true;
m_data->m_textureHandles.push_back(h);
if (texels)
{
@@ -955,14 +966,23 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
}
void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
{
if (shapeIndex >=0 && shapeIndex < m_data->m_textureHandles.size())
{
b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
if (textureId>=0)
{
gfxObj->m_textureIndex = textureId;
}
}
}
void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY)
{
if (textureIndex>=0)
{
glActiveTexture(GL_TEXTURE0);
b3Assert(glGetError() ==GL_NO_ERROR);
InternalTextureHandle& h = m_data->m_textureHandles[textureIndex];
@@ -991,7 +1011,10 @@ void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&texels[0]);
}
b3Assert(glGetError() ==GL_NO_ERROR);
glGenerateMipmap(GL_TEXTURE_2D);
if (h.m_enableFiltering)
{
glGenerateMipmap(GL_TEXTURE_2D);
}
b3Assert(glGetError() ==GL_NO_ERROR);
}
}
@@ -1028,7 +1051,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
if (textureId>=0)
{
gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture;
gfxObj->m_textureIndex = textureId;
}
gfxObj->m_primitiveType = primitiveType;
@@ -2181,10 +2204,26 @@ b3Assert(glGetError() ==GL_NO_ERROR);
{
glActiveTexture(GL_TEXTURE0);
GLuint curBindTexture = 0;
if (gfxObj->m_texturehandle)
curBindTexture = gfxObj->m_texturehandle;
if (gfxObj->m_textureIndex>=0)
{
curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture;
glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_BASE_LEVEL,0);
if (m_data->m_textureHandles[gfxObj->m_textureIndex].m_enableFiltering)
{
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
} else
{
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
}
}
else
{
curBindTexture = m_data->m_defaultTexturehandle;
}
//disable lazy evaluation, it just leads to bugs
//if (lastBindTexture != curBindTexture)

3
examples/OpenGLWindow/GLInstancingRenderer.h
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@@ -67,7 +67,8 @@ public:
virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true);
virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true);
virtual void activateTexture(int textureIndex);
virtual void replaceTexture(int shapeIndex, int textureId);
virtual int getShapeIndexFromInstance(int srcIndex);
///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);

31
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2918,6 +2918,25 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
}
}
b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_CHANGE_TEXTURE;
command->m_changeTextureArgs.m_textureUniqueId = textureUniqueId;
command->m_changeTextureArgs.m_width = width;
command->m_changeTextureArgs.m_height = height;
int numPixels = width*height;
cl->uploadBulletFileToSharedMemory(rgbPixels,numPixels*3);
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -2938,6 +2957,18 @@ b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient,
return (b3SharedMemoryCommandHandle) command;
}
int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
int uid = -1;
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_LOAD_TEXTURE_COMPLETED);
if (status->m_type == CMD_LOAD_TEXTURE_COMPLETED)
{
uid = status->m_loadTextureResultArguments.m_textureUniqueId;
}
return uid;
}
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -217,6 +217,10 @@ b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientH
void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);
void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]);

4
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -1368,7 +1368,9 @@ void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data,
SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
} else {
for (int i = 0; i < len; i++) {
m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
//m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[i] = data[i];
}
}
}

8
examples/SharedMemory/PhysicsDirect.cpp
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@@ -1095,6 +1095,14 @@ void PhysicsDirect::setSharedMemoryKey(int key)
void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len)
{
if (len>SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
{
len = SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
}
for (int i=0;i<len;i++)
{
m_data->m_bulletStreamDataServerToClient[i] = data[i];
}
//m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
}

264
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -20,7 +20,7 @@
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h"
#include "stb_image/stb_image.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h"
@@ -129,16 +129,17 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
}
};
struct InteralCollisionShapeData
struct InternalCollisionShapeData
{
btCollisionShape* m_collisionShape;
b3AlignedObjectArray<UrdfCollision> m_urdfCollisionObjects;
void clear()
{
m_collisionShape=0;
}
};
struct InteralBodyData
struct InternalBodyData
{
btMultiBody* m_multiBody;
btRigidBody* m_rigidBody;
@@ -151,7 +152,7 @@ struct InteralBodyData
b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
#endif //B3_ENABLE_TINY_AUDIO
InteralBodyData()
InternalBodyData()
{
clear();
}
@@ -182,8 +183,20 @@ struct InteralUserConstraintData
}
};
typedef b3PoolBodyHandle<InteralBodyData> InternalBodyHandle;
typedef b3PoolBodyHandle<InteralCollisionShapeData> InternalCollisionShapeHandle;
struct InternalTextureData
{
int m_tinyRendererTextureId;
int m_openglTextureId;
void clear()
{
m_tinyRendererTextureId = -1;
m_openglTextureId = -1;
}
};
typedef b3PoolBodyHandle<InternalTextureData> InternalTextureHandle;
typedef b3PoolBodyHandle<InternalBodyData> InternalBodyHandle;
typedef b3PoolBodyHandle<InternalCollisionShapeData> InternalCollisionShapeHandle;
class btCommandChunk
{
@@ -1144,6 +1157,7 @@ struct ContactPointsStateLogger : public InternalStateLogger
struct PhysicsServerCommandProcessorInternalData
{
///handle management
b3ResizablePool< InternalTextureHandle > m_textureHandles;
b3ResizablePool< InternalBodyHandle > m_bodyHandles;
b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
@@ -1268,7 +1282,7 @@ struct PhysicsServerCommandProcessorInternalData
int handle = allocHandle();
bla.push_back(handle);
InternalBodyHandle* body = getHandle(handle);
InteralBodyData* body2 = body;
InternalBodyData* body2 = body;
}
for (int i=0;i<bla.size();i++)
{
@@ -1282,7 +1296,7 @@ struct PhysicsServerCommandProcessorInternalData
int handle = allocHandle();
bla.push_back(handle);
InternalBodyHandle* body = getHandle(handle);
InteralBodyData* body2 = body;
InternalBodyData* body2 = body;
}
for (int i=0;i<bla.size();i++)
{
@@ -1295,7 +1309,7 @@ struct PhysicsServerCommandProcessorInternalData
int handle = allocHandle();
bla.push_back(handle);
InternalBodyHandle* body = getHandle(handle);
InteralBodyData* body2 = body;
InternalBodyData* body2 = body;
}
for (int i=0;i<bla.size();i++)
{
@@ -1739,21 +1753,28 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
return -1;
}
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int objectIndex) const
virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
{
#if 0
if (m_data->m_customVisualShapesConverter)
//if there is a visual, use it, otherwise convert collision shape back into UrdfCollision...
UrdfModel model;// = m_data->m_urdfParser.getModel();
UrdfLink link;
int colShapeUniqueId = m_createBodyArgs.m_linkCollisionShapeUniqueIds[urdfIndex];
if (colShapeUniqueId>=0)
{
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(colShapeUniqueId);
if (handle)
{
const UrdfModel& model = m_data->m_urdfParser.getModel();
UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
if (linkPtr)
for (int i=0;i<handle->m_urdfCollisionObjects.size();i++)
{
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, *linkPtr, &model, colObj, bodyUniqueId);
link.m_collisionArray.push_back(handle->m_urdfCollisionObjects[i]);
}
}
}
#endif
//UrdfVisual vis;
//link.m_visualArray.push_back(vis);
//UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);
m_data->m_visualConverter.convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, &link, &model, colObj, bodyUniqueId);
}
virtual void setBodyUniqueId(int bodyId)
{
@@ -2671,7 +2692,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID)&& (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0))
{
int bodyUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[0];
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body)
{
if (body->m_multiBody)
@@ -3248,7 +3269,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
for (int i=0;i<usedHandles.size();i++)
{
int usedHandle = usedHandles[i];
InteralBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle);
if (body && (body->m_multiBody || body->m_rigidBody))
{
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
@@ -3337,7 +3358,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
{
int bodyUniqueId = sd.m_bodyUniqueIds[i];
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body)
{
if (body->m_multiBody)
@@ -3588,6 +3609,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
btCollisionShape* shape = 0;
b3AlignedObjectArray<UrdfCollision> urdfCollisionObjects;
btCompoundShape* compound = 0;
@@ -3597,6 +3619,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
for (int i=0;i<clientCmd.m_createCollisionShapeArgs.m_numCollisionShapes;i++)
{
UrdfCollision urdfColObj;
btTransform childTransform;
childTransform.setIdentity();
if (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_hasChildTransform)
@@ -3616,6 +3640,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
urdfColObj.m_linkLocalFrame = childTransform;
urdfColObj.m_sourceFileLocation = "memory";
urdfColObj.m_name = "memory";
urdfColObj.m_geometry.m_type = URDF_GEOM_UNKNOWN;
switch (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_type)
{
case GEOM_SPHERE:
@@ -3626,19 +3655,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
compound->addChildShape(childTransform,shape);
}
urdfColObj.m_geometry.m_type = URDF_GEOM_SPHERE;
urdfColObj.m_geometry.m_sphereRadius = radius;
break;
}
case GEOM_BOX:
{
//double halfExtents[3] = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_sphereRadius;
shape = worldImporter->createBoxShape(btVector3(
btVector3 halfExtents(
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[0],
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[1],
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[2]));
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_boxHalfExtents[2]);
shape = worldImporter->createBoxShape(halfExtents);
if (compound)
{
compound->addChildShape(childTransform,shape);
}
urdfColObj.m_geometry.m_type = URDF_GEOM_BOX;
urdfColObj.m_geometry.m_boxSize = 2.*halfExtents;
break;
}
case GEOM_CAPSULE:
@@ -3649,6 +3683,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
compound->addChildShape(childTransform,shape);
}
urdfColObj.m_geometry.m_type = URDF_GEOM_CAPSULE;
urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleRadius;
urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleHeight;
break;
}
case GEOM_CYLINDER:
@@ -3659,6 +3697,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
compound->addChildShape(childTransform,shape);
}
urdfColObj.m_geometry.m_type = URDF_GEOM_CYLINDER;
urdfColObj.m_geometry.m_capsuleRadius = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleRadius;
urdfColObj.m_geometry.m_capsuleHeight = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_capsuleHeight;
break;
}
case GEOM_PLANE:
@@ -3672,6 +3714,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
compound->addChildShape(childTransform,shape);
}
urdfColObj.m_geometry.m_type = URDF_GEOM_PLANE;
urdfColObj.m_geometry.m_planeNormal.setValue(
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[0],
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[1],
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_planeNormal[2]);
break;
}
case GEOM_MESH:
@@ -3685,7 +3733,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
const std::string& urdf_path="";
std::string fileName = clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshFileName;
urdfColObj.m_geometry.m_type = URDF_GEOM_MESH;
urdfColObj.m_geometry.m_meshFileName = fileName;
urdfColObj.m_geometry.m_meshScale = meshScale;
char relativeFileName[1024];
char pathPrefix[1024];
pathPrefix[0] = 0;
@@ -3702,6 +3753,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
bool foundFile = findExistingMeshFile(pathPrefix, relativeFileName,error_message_prefix,&out_found_filename, &out_type);
if (foundFile)
{
urdfColObj.m_geometry.m_meshFileType = out_type;
if (out_type==UrdfGeometry::FILE_OBJ)
{
//create a convex hull for each shape, and store it in a btCompoundShape
@@ -3718,10 +3771,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
btAlignedObjectArray<btVector3> convertedVerts;
convertedVerts.reserve(glmesh->m_numvertices);
btVector3 meshScale(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[0],
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[1],
clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[2]);
for (int i=0; i<glmesh->m_numvertices; i++)
{
convertedVerts.push_back(btVector3(
@@ -3809,7 +3859,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
}
}
if (urdfColObj.m_geometry.m_type != URDF_GEOM_UNKNOWN)
{
urdfCollisionObjects.push_back(urdfColObj);
}
}
#if 0
shape = worldImporter->createCylinderShapeX(radius,height);
shape = worldImporter->createCylinderShapeY(radius,height);
@@ -3829,6 +3885,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int collisionShapeUid = m_data->m_userCollisionShapeHandles.allocHandle();
InternalCollisionShapeHandle* handle = m_data->m_userCollisionShapeHandles.getHandle(collisionShapeUid);
handle->m_collisionShape = shape;
for (int i=0;i<urdfCollisionObjects.size();i++)
{
handle->m_urdfCollisionObjects.push_back(urdfCollisionObjects[i]);
}
serverStatusOut.m_createCollisionShapeResultArgs.m_collisionShapeUniqueId = collisionShapeUid;
m_data->m_worldImporters.push_back(worldImporter);
serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_COMPLETED;
@@ -3912,7 +3972,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
}
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
}
}
@@ -3977,7 +4037,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
}
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
hasStatus = true;
@@ -4049,7 +4109,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Processed CMD_CREATE_SENSOR");
}
int bodyUniqueId = clientCmd.m_createSensorArguments.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
btMultiBody* mb = body->m_multiBody;
@@ -4169,7 +4229,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
@@ -4359,7 +4419,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_FAILED;
hasStatus=true;
int bodyUniqueId = clientCmd.m_requestCollisionInfoArgs.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
@@ -4460,7 +4520,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Sending the actual state (Q,U)");
}
int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
@@ -4777,7 +4837,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1);
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
@@ -4963,7 +5023,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody)
{
SharedMemoryStatus& serverCmd = serverStatusOut;
@@ -5104,7 +5164,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Server Init Pose not implemented yet");
}
int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
btVector3 baseLinVel(0, 0, 0);
btVector3 baseAngVel(0, 0, 0);
@@ -5698,7 +5758,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (bodyUniqueIdA >= 0)
{
InteralBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA);
InternalBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA);
if (bodyA)
{
if (bodyA->m_multiBody)
@@ -5732,7 +5792,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if (bodyUniqueIdB>=0)
{
InteralBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB);
InternalBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB);
if (bodyB)
{
if (bodyB->m_multiBody)
@@ -6001,7 +6061,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
{
InteralBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0);
if (body && body->m_multiBody)
@@ -6207,12 +6267,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT)
{
btScalar defaultMaxForce = 500.0;
InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
InternalBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
if (parentBody && parentBody->m_multiBody)
{
if ((clientCmd.m_userConstraintArguments.m_parentJointIndex>=-1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks())
{
InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
//also create a constraint with just a single multibody/rigid body without child
//if (childBody)
{
@@ -6366,7 +6426,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
else
{
InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
if (parentBody && childBody)
{
@@ -6715,12 +6775,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
InternalTextureHandle* texHandle = 0;
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0)
{
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
if (texHandle)
{
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
}
}
}
@@ -6737,10 +6803,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyHandle->m_multiBody->getBaseCollider())
{
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
if (texHandle)
{
int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
@@ -6755,10 +6829,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
{
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
if (texHandle)
{
int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
@@ -6781,25 +6863,77 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_LOAD_TEXTURE:
{
BT_PROFILE("CMD_LOAD_TEXTURE");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
int uid = m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName);
if (uid>=0)
{
serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
} else
{
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
}
case CMD_CHANGE_TEXTURE:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CHANGE_TEXTURE_COMMAND_FAILED;
InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(clientCmd.m_changeTextureArgs.m_textureUniqueId);
if(texH)
{
int gltex = texH->m_openglTextureId;
m_data->m_guiHelper->changeTexture(gltex,
(const unsigned char*)bufferServerToClient, clientCmd.m_changeTextureArgs.m_width,clientCmd.m_changeTextureArgs.m_height);
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
}
hasStatus = true;
break;
}
}
case CMD_LOAD_TEXTURE:
{
BT_PROFILE("CMD_LOAD_TEXTURE");
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
char relativeFileName[1024];
char pathPrefix[1024];
if(b3ResourcePath::findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName,relativeFileName,1024))
{
b3FileUtils::extractPath(relativeFileName,pathPrefix,1024);
int texHandle = m_data->m_textureHandles.allocHandle();
InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
if(texH)
{
texH->m_tinyRendererTextureId = -1;
texH->m_openglTextureId = -1;
int uid = m_data->m_visualConverter.loadTextureFile(relativeFileName);
if(uid>=0)
{
int m_tinyRendererTextureId;
texH->m_tinyRendererTextureId = uid;
}
{
int width,height,n;
unsigned char* imageData= stbi_load(relativeFileName,&width,&height,&n,3);
if(imageData)
{
texH->m_openglTextureId = m_data->m_guiHelper->registerTexture(imageData,width,height);
free(imageData);
}
else
{
b3Warning("Unsupported texture image format [%s]\n",relativeFileName);
}
}
serverCmd.m_loadTextureResultArguments.m_textureUniqueId = texHandle;
serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
}
}
else
{
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
}
hasStatus = true;
break;
}
case CMD_LOAD_BULLET:
{
@@ -6994,7 +7128,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
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->m_bodyHandles.getHandle(bodyUniqueId);
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body)
{
btCollisionObject* destColObj = 0;

71
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -131,6 +131,9 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperChangeGraphicsInstanceRGBAColor,
eGUIHelperChangeGraphicsInstanceSpecularColor,
eGUIHelperSetVisualizerFlag,
eGUIHelperChangeGraphicsInstanceTextureId,
eGUIHelperGetShapeIndexFromInstance,
eGUIHelperChangeTexture,
};
@@ -932,6 +935,46 @@ public:
m_cs->setSharedParam(1,eGUIHelperRemoveGraphicsInstance);
workerThreadWait();
}
int m_getShapeIndex_instance;
int getShapeIndex_shapeIndex;
virtual int getShapeIndexFromInstance(int instance)
{
m_getShapeIndex_instance = instance;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperGetShapeIndexFromInstance);
workerThreadWait();
return getShapeIndex_shapeIndex;
}
int m_graphicsInstanceChangeTextureId;
int m_graphicsInstanceChangeTextureShapeIndex;
virtual void replaceTexture(int shapeIndex, int textureUid)
{
m_graphicsInstanceChangeTextureShapeIndex = shapeIndex;
m_graphicsInstanceChangeTextureId = textureUid;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceTextureId);
workerThreadWait();
}
int m_changeTextureUniqueId;
const unsigned char* m_changeTextureRgbTexels;
int m_changeTextureWidth;
int m_changeTextureHeight;
virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height)
{
m_changeTextureUniqueId = textureUniqueId;
m_changeTextureRgbTexels = rgbTexels;
m_changeTextureWidth = width;
m_changeTextureHeight = height;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperChangeTexture);
workerThreadWait();
}
double m_rgbaColor[4];
int m_graphicsInstanceChangeColor;
@@ -1913,6 +1956,34 @@ void PhysicsServerExample::updateGraphics()
break;
}
case eGUIHelperGetShapeIndexFromInstance:
{
m_multiThreadedHelper->getShapeIndex_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->getShapeIndexFromInstance(m_multiThreadedHelper->m_getShapeIndex_instance);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceTextureId:
{
m_multiThreadedHelper->m_childGuiHelper->replaceTexture(
m_multiThreadedHelper->m_graphicsInstanceChangeTextureShapeIndex,
m_multiThreadedHelper->m_graphicsInstanceChangeTextureId);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeTexture:
{
m_multiThreadedHelper->m_childGuiHelper->changeTexture(
m_multiThreadedHelper->m_changeTextureUniqueId,
m_multiThreadedHelper->m_changeTextureRgbTexels,
m_multiThreadedHelper->m_changeTextureWidth,
m_multiThreadedHelper->m_changeTextureHeight);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceRGBAColor:
{
m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor);

13
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -283,6 +283,11 @@ struct LoadTextureArgs
char m_textureFileName[MAX_FILENAME_LENGTH];
};
struct b3LoadTextureResultArgs
{
int m_textureUniqueId;
};
struct SendVisualShapeDataArgs
{
int m_bodyUniqueId;
@@ -893,6 +898,12 @@ struct b3CreateMultiBodyResultArgs
int m_bodyUniqueId;
};
struct b3ChangeTextureArgs
{
int m_textureUniqueId;
int m_width;
int m_height;
};
struct SharedMemoryCommand
{
@@ -945,6 +956,7 @@ struct SharedMemoryCommand
struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
struct b3ChangeTextureArgs m_changeTextureArgs;
};
};
@@ -1015,6 +1027,7 @@ struct SharedMemoryStatus
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
struct SendMouseEvents m_sendMouseEvents;
struct b3LoadTextureResultArgs m_loadTextureResultArguments;
};
};

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -67,6 +67,7 @@ enum EnumSharedMemoryClientCommand
CMD_CREATE_MULTI_BODY,
CMD_REQUEST_COLLISION_INFO,
CMD_REQUEST_MOUSE_EVENTS_DATA,
CMD_CHANGE_TEXTURE,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -161,6 +162,7 @@ enum EnumSharedMemoryServerStatus
CMD_REQUEST_COLLISION_INFO_COMPLETED,
CMD_REQUEST_COLLISION_INFO_FAILED,
CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
CMD_CHANGE_TEXTURE_COMMAND_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};

64
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -506,6 +506,15 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
}
static btVector4 sColors[4] =
{
btVector4(60./256.,186./256.,84./256.,1),
btVector4(244./256.,194./256.,13./256.,1),
btVector4(219./256.,50./256.,54./256.,1),
btVector4(72./256.,133./256.,237./256.,1),
//btVector4(1,1,0,1),
};
void TinyRendererVisualShapeConverter::convertVisualShapes(
@@ -546,7 +555,17 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
}
btTransform childTrans = vis->m_linkLocalFrame;
float rgbaColor[4] = {1,1,1,1};
int colorIndex = colObj? colObj->getBroadphaseHandle()->getUid() & 3 : 0;
btVector4 color;
color = sColors[colorIndex];
float rgbaColor[4] = {color[0],color[1],color[2],color[3]};
if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
{
color.setValue(1,1,1,1);
}
if (model && useVisual)
{
btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());
@@ -1051,12 +1070,15 @@ void TinyRendererVisualShapeConverter::resetAll()
void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
{
btAssert(textureUniqueId < m_data->m_textures.size());
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId);
if (ptrptr && *ptrptr)
{
TinyRendererObjectArray* ptr = *ptrptr;
ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height);
}
if (textureUniqueId>=0 && textureUniqueId<m_data->m_textures.size())
{
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId);
if (ptrptr && *ptrptr)
{
TinyRendererObjectArray* ptr = *ptrptr;
ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height);
}
}
}
void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
@@ -1066,18 +1088,26 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId,
{
if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex)
{
start = i;
break;
}
}
if (start >= 0)
{
if (start + shapeIndex < m_data->m_visualShapes.size())
{
activateShapeTexture(start + shapeIndex, textureUniqueId);
if (shapeIndex<0)
{
activateShapeTexture(i, textureUniqueId);
} else
{
start = i;
break;
}
}
}
if (shapeIndex>=0)
{
if (start >= 0)
{
if (start + shapeIndex < m_data->m_visualShapes.size())
{
activateShapeTexture(start + shapeIndex, textureUniqueId);
}
}
}
}
int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)

43
examples/pybullet/examples/changeTexture.py Normal file
View File

@@ -0,0 +1,43 @@
import pybullet as p
import time
p.connect(p.GUI)
planeUidA = p.loadURDF("plane_transparent.urdf",[0,0,0])
planeUid = p.loadURDF("plane_transparent.urdf",[0,0,-1])
texUid = p.loadTexture("tex256.png")
p.changeVisualShape(planeUidA,-1,rgbaColor=[1,1,1,0.5])
p.changeVisualShape(planeUid,-1,rgbaColor=[1,1,1,0.5])
p.changeVisualShape(planeUid,-1, textureUniqueId = texUid)
width = 256
height = 256
pixels = [255]*width*height*3
colorR = 0
colorG = 0
colorB = 0
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
blue=0
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
for i in range (100000):
p.stepSimulation()
for i in range (width):
for j in range(height):
pixels[(i+j*width)*3+0]=i
pixels[(i+j*width)*3+1]=(j+blue)%256
pixels[(i+j*width)*3+2]=blue
blue=blue+1
p.changeTexture(texUid, pixels,width,height)
start = time.time()
p.getCameraImage(300,300,renderer=p.ER_BULLET_HARDWARE_OPENGL)
end = time.time()
print("rendering duraction")
print(end-start)
p.stopStateLogging(logId)
#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)

81
examples/pybullet/pybullet.c
View File

@@ -1433,7 +1433,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
int i;
for (i = 0; i < numControlledDofs; i++)
{
int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i);
if ((jointIndex >= numJoints) || (jointIndex < 0))
{
Py_DECREF(jointIndicesSeq);
@@ -4551,6 +4551,75 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
return Py_None;
}
static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryCommandHandle commandHandle = 0;
b3SharedMemoryStatusHandle statusHandle=0;
int statusType = -1;
int textureUniqueId = -1;
int physicsClientId = 0;
int width=-1;
int height=-1;
PyObject* pixelsObj = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"textureUniqueId", "pixels", "width", "height", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOii|i", kwlist, &textureUniqueId, &pixelsObj, &width, &height, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (textureUniqueId>=0 && width>=0 && height>=0 && pixelsObj)
{
PyObject* seqPixels = PySequence_Fast(pixelsObj, "expected a sequence");
PyObject* item;
int i;
int numPixels = width*height;
unsigned char* pixelBuffer = (char*) malloc (numPixels*3);
if (PyList_Check(seqPixels))
{
for (i=0;i<numPixels*3;i++)
{
item = PyList_GET_ITEM(seqPixels, i);
pixelBuffer[i] = PyLong_AsLong(item);
}
} else
{
for (i=0;i<numPixels*3;i++)
{
item = PyTuple_GET_ITEM(seqPixels, i);
pixelBuffer[i] = PyLong_AsLong(item);
}
}
commandHandle = b3CreateChangeTextureCommandInit(sm,textureUniqueId, width,height,pixelBuffer);
free(pixelBuffer);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_CLIENT_COMMAND_COMPLETED)
{
Py_INCREF(Py_None);
return Py_None;
} else
{
PyErr_SetString(SpamError, "Error processing changeTexture.");
return NULL;
}
}
PyErr_SetString(SpamError, "Error: invalid arguments in changeTexture.");
return NULL;
}
static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
{
const char* filename = 0;
@@ -4578,6 +4647,9 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
{
PyObject* item;
item = PyInt_FromLong(b3GetStatusTextureUniqueId(statusHandle));
return item;
}
else
{
@@ -4586,8 +4658,8 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
}
}
Py_INCREF(Py_None);
return Py_None;
PyErr_SetString(SpamError, "Error loading texture");
return NULL;
}
static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPointPtr)
@@ -7026,6 +7098,9 @@ static PyMethodDef SpamMethods[] = {
{"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS,
"Load texture file."},
{"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS,
"Change a texture file."},
{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
"Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
"quaternion [x,y,z,w]"},

24
src/LinearMath/btHashMap.h
View File

@@ -389,28 +389,38 @@ protected:
const Value* getAtIndex(int index) const
{
btAssert(index < m_valueArray.size());
return &m_valueArray[index];
btAssert(index>=0);
if (index>=0 && index < m_valueArray.size())
{
return &m_valueArray[index];
}
return 0;
}
Value* getAtIndex(int index)
{
btAssert(index < m_valueArray.size());
return &m_valueArray[index];
btAssert(index>=0);
if (index>=0 && index < m_valueArray.size())
{
return &m_valueArray[index];
}
return 0;
}
Key getKeyAtIndex(int index)
{
btAssert(index < m_keyArray.size());
return m_keyArray[index];
btAssert(index>=0);
return m_keyArray[index];
}
const Key getKeyAtIndex(int index) const
{
btAssert(index < m_keyArray.size());
return m_keyArray[index];
}
btAssert(index>=0);
return m_keyArray[index];
}
Value* operator[](const Key& key) {