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Merge pull request #1637 from erwincoumans/master

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PyBullet: add signed distance field support, with example/signedDista…
This commit is contained in:
erwincoumans
2018-05-02 09:20:04 -07:00
committed by GitHub
parent 540e9a1e55 988d78cb61
commit 78629e1c6c
20 changed files with 1176 additions and 50 deletions
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8
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -410,6 +410,14 @@ void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
if (flag == COV_ENABLE_WIREFRAME)
{
visualWireframe = enable;
if (visualWireframe)
{
gDebugDrawFlags |= btIDebugDraw::DBG_DrawWireframe;
}
else
{
gDebugDrawFlags &= ~btIDebugDraw::DBG_DrawWireframe;
}
}
}

19
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -433,10 +433,14 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
if (collisionShape->getShapeType() == SOFTBODY_SHAPE_PROXYTYPE)
{
computeSoftBodyVertices(collisionShape, gfxVertices, indices);
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES,
m_data->m_checkedTexture);
b3Assert(shapeId >= 0);
collisionShape->setUserIndex(shapeId);
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES,
m_data->m_checkedTexture);
b3Assert(shapeId >= 0);
collisionShape->setUserIndex(shapeId);
}
}
if (collisionShape->getShapeType()==MULTI_SPHERE_SHAPE_PROXYTYPE)
{
@@ -1265,6 +1269,11 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
btCollisionObject* colObj = sortedObjects[i];
//btRigidBody* body = btRigidBody::upcast(colObj);
//does this also work for btMultiBody/btMultiBodyLinkCollider?
btSoftBody* sb = btSoftBody::upcast(colObj);
if (sb)
{
colObj->getCollisionShape()->setUserPointer(sb);
}
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
@@ -1313,6 +1322,8 @@ void OpenGLGuiHelper::computeSoftBodyVertices(btCollisionShape* collisionShape,
btAlignedObjectArray<GLInstanceVertex>& gfxVertices,
btAlignedObjectArray<int>& indices)
{
if (collisionShape->getUserPointer()==0)
return;
b3Assert(collisionShape->getUserPointer());
btSoftBody* psb = (btSoftBody*)collisionShape->getUserPointer();
gfxVertices.resize(psb->m_faces.size() * 3);

51
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -21,6 +21,7 @@ subject to the following restrictions:
#include "../ImportSTLDemo/LoadMeshFromSTL.h"
#include "../ImportColladaDemo/LoadMeshFromCollada.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
#include "BulletCollision/CollisionShapes/btSdfCollisionShape.h"
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
#include "Bullet3Common/b3FileUtils.h"
#include <string>
@@ -509,6 +510,10 @@ bool findExistingMeshFile(
{
*out_type = UrdfGeometry::FILE_OBJ;
}
else if (ext == ".cdf")
{
*out_type = UrdfGeometry::FILE_CDF;
}
else
{
b3Warning("%s: invalid mesh filename extension '%s'\n", error_message_prefix.c_str(), ext.c_str());
@@ -662,7 +667,53 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
shape ->setMargin(gUrdfDefaultCollisionMargin);
break;
}
case URDF_GEOM_CDF:
{
char relativeFileName[1024];
char pathPrefix[1024];
pathPrefix[0] = 0;
if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
btAlignedObjectArray<char> sdfData;
{
std::streampos fsize = 0;
std::ifstream file(relativeFileName, std::ios::binary);
if (file.good())
{
fsize = file.tellg();
file.seekg(0, std::ios::end);
fsize = file.tellg() - fsize;
file.seekg(0, std::ios::beg);
sdfData.resize(fsize);
int bytesRead = file.rdbuf()->sgetn(&sdfData[0], fsize);
btAssert(bytesRead == fsize);
file.close();
}
}
if (sdfData.size())
{
btSdfCollisionShape* sdfShape = new btSdfCollisionShape();
bool valid = sdfShape->initializeSDF(&sdfData[0], sdfData.size());
btAssert(valid);
if (valid)
{
shape = sdfShape;
}
else
{
delete sdfShape;
}
}
}
break;
}
case URDF_GEOM_MESH:
{
GLInstanceGraphicsShape* glmesh = 0;

11
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -436,9 +436,16 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, XMLElement* g, ErrorLogger* l
geom.m_capsuleHeight = m_urdfScaling * urdfLexicalCast<double>(shape->Attribute("length"));
}
}
else if (type_name == "mesh")
else if ((type_name == "mesh") || (type_name == "cdf"))
{
geom.m_type = URDF_GEOM_MESH;
if ((type_name == "cdf"))
{
geom.m_type = URDF_GEOM_CDF;
}
else
{
geom.m_type = URDF_GEOM_MESH;
}
geom.m_meshScale.setValue(1,1,1);
std::string fn;

5
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -54,7 +54,8 @@ enum UrdfGeomTypes
URDF_GEOM_CYLINDER,
URDF_GEOM_MESH,
URDF_GEOM_PLANE,
URDF_GEOM_CAPSULE, //non-standard URDF?
URDF_GEOM_CAPSULE, //non-standard URDF
URDF_GEOM_CDF,//signed-distance-field, non-standard URDF
URDF_GEOM_UNKNOWN,
};
@@ -79,6 +80,8 @@ struct UrdfGeometry
FILE_STL =1,
FILE_COLLADA =2,
FILE_OBJ =3,
FILE_CDF = 4,
};
int m_meshFileType;
std::string m_meshFileName;

4
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -295,7 +295,7 @@ static void printGLString(const char *name, GLenum s) {
bool sOpenGLVerbose = true;
SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, bool allowRetina)
SimpleOpenGL3App::SimpleOpenGL3App(const char* title, int width, int height, bool allowRetina, int maxNumObjectCapacity, int maxShapeCapacityInBytes)
{
gApp = this;
@@ -369,7 +369,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, boo
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer = new GLInstancingRenderer(128*1024,128*1024*1024);
m_instancingRenderer = new GLInstancingRenderer(maxNumObjectCapacity, maxShapeCapacityInBytes);
m_primRenderer = new GLPrimitiveRenderer(width,height);

3
examples/OpenGLWindow/SimpleOpenGL3App.h
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@@ -16,7 +16,8 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
class GLInstancingRenderer* m_instancingRenderer;
virtual void setBackgroundColor(float red, float green, float blue);
SimpleOpenGL3App(const char* title, int width,int height, bool allowRetina=true);
SimpleOpenGL3App(const char* title, int width,int height, bool allowRetina=true, int maxNumObjectCapacity = 128 * 1024, int maxShapeCapacityInBytes = 128 * 1024 * 1024);
virtual ~SimpleOpenGL3App();
virtual int registerCubeShape(float halfExtentsX=1.f,float halfExtentsY=1.f, float halfExtentsZ = 1.f, int textureIndex = -1, float textureScaling = 1);

2
examples/SoftDemo/SoftDemo.cpp
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@@ -169,7 +169,7 @@ public:
for ( int i=0;i<softWorld->getSoftBodyArray().size();i++)
{
btSoftBody* psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
//if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
{
btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());

17
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -28,9 +28,12 @@
#include "LinearMath/btIDebugDraw.h"
int gSharedMemoryKey = -1;
int gDebugDrawFlags = 0;
bool gDisplayDistortion = false;
bool gDisableDesktopGL = false;
static int gDebugDrawFlags = 0;
static bool gDisplayDistortion = false;
static bool gDisableDesktopGL = false;
static int maxNumObjectCapacity = 128 * 1024;
static int maxShapeCapacityInBytes = 128 * 1024 * 1024;
#include <stdio.h>
@@ -477,7 +480,8 @@ bool CMainApplication::BInit()
SDL_GL_SetAttribute( SDL_GL_CONTEXT_FLAGS, SDL_GL_CONTEXT_DEBUG_FLAG );
*/
m_app = new SimpleOpenGL3App("SimpleOpenGL3App",m_nWindowWidth,m_nWindowHeight,true);
m_app = new SimpleOpenGL3App("SimpleOpenGL3App",m_nWindowWidth,m_nWindowHeight,true, maxNumObjectCapacity, maxShapeCapacityInBytes);
sGuiPtr = new OpenGLGuiHelper(m_app,false);
@@ -2354,7 +2358,10 @@ int main(int argc, char *argv[])
b3ChromeUtilsEnableProfiling();
}
args.GetCmdLineArgument("max_num_object_capacity", maxNumObjectCapacity);
args.GetCmdLineArgument("max_shape_capacity_in_bytes", maxShapeCapacityInBytes);
args.GetCmdLineArgument("shared_memory_key", gSharedMemoryKey);
#ifdef BT_USE_CUSTOM_PROFILER
b3SetCustomEnterProfileZoneFunc(dcEnter);
b3SetCustomLeaveProfileZoneFunc(dcLeave);

15
examples/pybullet/examples/signedDistanceField.py Normal file
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@@ -0,0 +1,15 @@
import pybullet as p
import pybullet
import time
p.connect(p.GUI)
p.loadURDF("toys/concave_box.urdf")
p.setGravity(0,0,-10)
for i in range (10):
p.loadURDF("sphere_1cm.urdf",[i*0.02,0,0.5])
p.loadURDF("duck_vhacd.urdf")
timeStep = 1./240.
p.setTimeStep(timeStep)
while (1):
p.stepSimulation()
time.sleep(timeStep)