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allow to use colors from MJCF file as option (default to random Google colors), use p.loadMJCF(filename, flags=p.URDF_MJCF_COLORS_FROM_FILE

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fix quadruped.py example.
add PyBullet.isConnected() API, more friendly than PyBullet.getConnectionInfo()["connected"]
This commit is contained in:
Erwin Coumans
2018-01-11 21:04:08 -08:00
parent 22b4809891
commit 79051b7611
13 changed files with 986 additions and 55 deletions
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1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -674,6 +674,7 @@ enum eURDF_Flags
URDF_RESERVED=64,
URDF_USE_IMPLICIT_CYLINDER =128,
URDF_GLOBAL_VELOCITIES_MB =256,
MJCF_COLORS_FROM_FILE=512,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

45
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -470,12 +470,14 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f;
pos.normalize();
vtx.normal[0] = pos.x();
vtx.normal[1] = pos.y();
vtx.normal[2] = pos.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
btVector3 normal = pos.safeNormalize();
vtx.normal[0] = normal.x();
vtx.normal[1] = normal.y();
vtx.normal[2] = normal.z();
btScalar u = btAtan2(normal[0], normal[2]) / (2 * SIMD_PI) + 0.5;
btScalar v = normal[1] * 0.5 + 0.5;
vtx.uv[0] = u;
vtx.uv[1] = v;
glmesh->m_vertices->push_back(vtx);
}
@@ -586,18 +588,33 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
{
color.setValue(1,1,1,1);
}
if (model && useVisual)
if (model)
{
btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());
UrdfMaterial*const* matPtr = model->m_materials[matName];
if (matPtr)
if (useVisual)
{
for (int i=0; i<4; i++)
btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str());
UrdfMaterial*const* matPtr = model->m_materials[matName];
if (matPtr)
{
rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
for (int i = 0; i < 4; i++)
{
rgbaColor[i] = (*matPtr)->m_matColor.m_rgbaColor[i];
}
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
}
}
else
{
if (vis && vis->m_geometry.m_hasLocalMaterial)
{
for (int i = 0; i < 4; i++)
{
rgbaColor[i] = vis->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[i];
}
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
}