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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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2
data/plane_transparent.urdf
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@@ -15,7 +15,7 @@
<mesh filename="plane.obj" scale="1 1 1"/> <mesh filename="plane.obj" scale="1 1 1"/>
</geometry> </geometry>
<material name="white"> <material name="white">
<color rgba="1 1 1 .9"/> <color rgba="1 1 1 .7"/>
</material> </material>
</visual> </visual>
<collision> <collision>

BIN
data/spider.bullet
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2
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
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@@ -139,7 +139,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
btConvexShape* convex = (btConvexShape*)collisionShape; btConvexShape* convex = (btConvexShape*)collisionShape;
{ {
btShapeHull* hull = new btShapeHull(convex); btShapeHull* hull = new btShapeHull(convex);
hull->buildHull(0.0); hull->buildHull(0.0, 1);
{ {
//int strideInBytes = 9*sizeof(float); //int strideInBytes = 9*sizeof(float);

9
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -301,6 +301,15 @@ void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* rg
int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId) int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
{ {
if (textureId == -2)
{
if (m_data->m_checkedTextureGrey<0)
{
m_data->m_checkedTextureGrey = createCheckeredTexture(192, 192, 192);
}
textureId = m_data->m_checkedTextureGrey;
}
int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId); int shapeId = m_data->m_glApp->m_renderer->registerShape(vertices, numvertices,indices,numIndices,primitiveType, textureId);
return shapeId; return shapeId;
} }

644
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -2,7 +2,10 @@
#include "../../ThirdPartyLibs/tinyxml/tinyxml.h" #include "../../ThirdPartyLibs/tinyxml/tinyxml.h"
#include "Bullet3Common/b3FileUtils.h" #include "Bullet3Common/b3FileUtils.h"
#include "Bullet3Common/b3HashMap.h" #include "Bullet3Common/b3HashMap.h"
#include "LinearMath/btQuickprof.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "../../CommonInterfaces/CommonRenderInterface.h"
#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
#include <string> #include <string>
#include "../../Utils/b3ResourcePath.h" #include "../../Utils/b3ResourcePath.h"
#include <iostream> #include <iostream>
@@ -13,6 +16,9 @@
#include "../ImportURDFDemo/urdfLexicalCast.h" #include "../ImportURDFDemo/urdfLexicalCast.h"
#include "../ImportObjDemo/LoadMeshFromObj.h" #include "../ImportObjDemo/LoadMeshFromObj.h"
#include "../ImportSTLDemo/LoadMeshFromSTL.h" #include "../ImportSTLDemo/LoadMeshFromSTL.h"
#include "../ImportColladaDemo/LoadMeshFromCollada.h"
#include "../OpenGLWindow/ShapeData.h"
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h" #include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include "../ImportMeshUtility/b3ImportMeshUtility.h" #include "../ImportMeshUtility/b3ImportMeshUtility.h"
@@ -31,6 +37,20 @@
#define mjcf_sphere_indiced textured_detailed_sphere_indices
#define mjcf_sphere_vertices textured_detailed_sphere_vertices
static btVector4 sGoogleColors[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),
};
#include <vector> #include <vector>
enum ePARENT_LINK_ENUMS enum ePARENT_LINK_ENUMS
@@ -192,12 +212,14 @@ struct BulletMJCFImporterInternalData
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces; mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
int m_flags; int m_flags;
int m_textureId;
BulletMJCFImporterInternalData() BulletMJCFImporterInternalData()
:m_inertiaFromGeom(true), :m_inertiaFromGeom(true),
m_activeModel(-1), m_activeModel(-1),
m_activeBodyUniqueId(-1), m_activeBodyUniqueId(-1),
m_flags(0) m_flags(0),
m_textureId(-1)
{ {
m_pathPrefix[0] = 0; m_pathPrefix[0] = 0;
} }
@@ -705,6 +727,12 @@ struct BulletMJCFImporterInternalData
linkPtr->m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION; linkPtr->m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
} }
{
geom.m_localMaterial.m_matColor.m_rgbaColor = sGoogleColors[linkIndex & 3];
geom.m_localMaterial.m_matColor.m_specularColor.setValue(1, 1, 1);
geom.m_hasLocalMaterial = true;
}
std::string rgba = defaults.m_defaultGeomRgba; std::string rgba = defaults.m_defaultGeomRgba;
if (const char* rgbattr = link_xml->Attribute("rgba")) if (const char* rgbattr = link_xml->Attribute("rgba"))
{ {
@@ -713,11 +741,16 @@ struct BulletMJCFImporterInternalData
if (!rgba.empty()) if (!rgba.empty())
{ {
// "0 0.7 0.7 1" // "0 0.7 0.7 1"
parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba); if ((m_flags&CUF_MJCF_COLORS_FROM_FILE))
geom.m_hasLocalMaterial = true; {
geom.m_localMaterial.m_name = rgba; parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba);
geom.m_hasLocalMaterial = true;
geom.m_localMaterial.m_name = rgba;
}
} }
const char* posS = link_xml->Attribute("pos"); const char* posS = link_xml->Attribute("pos");
if (posS) if (posS)
{ {
@@ -880,31 +913,43 @@ struct BulletMJCFImporterInternalData
if (handledGeomType) if (handledGeomType)
{ {
UrdfCollision col;
col.m_flags |= URDF_HAS_COLLISION_GROUP;
col.m_collisionGroup = defaults.m_defaultCollisionGroup;
col.m_flags |= URDF_HAS_COLLISION_MASK;
col.m_collisionMask = defaults.m_defaultCollisionMask;
//contype, conaffinity
const char* conTypeStr = link_xml->Attribute("contype");
if (conTypeStr)
{ {
UrdfCollision col;
col.m_flags |= URDF_HAS_COLLISION_GROUP; col.m_flags |= URDF_HAS_COLLISION_GROUP;
col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr); col.m_collisionGroup = defaults.m_defaultCollisionGroup;
}
const char* conAffinityStr = link_xml->Attribute("conaffinity");
if (conAffinityStr)
{
col.m_flags |= URDF_HAS_COLLISION_MASK; col.m_flags |= URDF_HAS_COLLISION_MASK;
col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr); col.m_collisionMask = defaults.m_defaultCollisionMask;
//contype, conaffinity
const char* conTypeStr = link_xml->Attribute("contype");
if (conTypeStr)
{
col.m_flags |= URDF_HAS_COLLISION_GROUP;
col.m_collisionGroup = urdfLexicalCast<int>(conTypeStr);
}
const char* conAffinityStr = link_xml->Attribute("conaffinity");
if (conAffinityStr)
{
col.m_flags |= URDF_HAS_COLLISION_MASK;
col.m_collisionMask = urdfLexicalCast<int>(conAffinityStr);
}
col.m_geometry = geom;
col.m_linkLocalFrame = linkLocalFrame;
col.m_sourceFileLocation = sourceFileLocation(link_xml);
linkPtr->m_collisionArray.push_back(col);
}
{
UrdfVisual vis;
vis.m_geometry = geom;
vis.m_linkLocalFrame = linkLocalFrame;
vis.m_sourceFileLocation = sourceFileLocation(link_xml);
linkPtr->m_visualArray.push_back(vis);
} }
col.m_geometry = geom;
col.m_linkLocalFrame = linkLocalFrame;
col.m_sourceFileLocation = sourceFileLocation(link_xml);
linkPtr->m_collisionArray.push_back(col);
} else } else
{ {
@@ -1380,6 +1425,7 @@ BulletMJCFImporter::BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVi
m_data->m_guiHelper = helper; m_data->m_guiHelper = helper;
m_data->m_customVisualShapesConverter = customConverter; m_data->m_customVisualShapesConverter = customConverter;
m_data->m_flags = flags; m_data->m_flags = flags;
m_data->m_textureId = -1;
} }
BulletMJCFImporter::~BulletMJCFImporter() BulletMJCFImporter::~BulletMJCFImporter()
@@ -1525,6 +1571,49 @@ std::string BulletMJCFImporter::getBodyName() const
return m_data->m_fileModelName; return m_data->m_fileModelName;
} }
bool BulletMJCFImporter::getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const
{
bool hasLinkColor = false;
{
const UrdfLink* link = m_data->getLink(m_data->m_activeModel, linkIndex);
if (link)
{
for (int i = 0; i < link->m_visualArray.size(); i++)
{
if (link->m_visualArray[i].m_geometry.m_hasLocalMaterial)
{
matCol = link->m_visualArray[i].m_geometry.m_localMaterial.m_matColor;
hasLinkColor = true;
break;
}
}
if (!hasLinkColor)
{
for (int i = 0; i < link->m_collisionArray.size(); i++)
{
if (link->m_collisionArray[i].m_geometry.m_hasLocalMaterial)
{
matCol = link->m_collisionArray[0].m_geometry.m_localMaterial.m_matColor;
hasLinkColor = true;
}
break;
}
}
}
}
if (!hasLinkColor)
{
matCol.m_rgbaColor = sGoogleColors[linkIndex & 3];
matCol.m_specularColor.setValue(1, 1, 1);
hasLinkColor = true;
}
return hasLinkColor;
}
bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const bool BulletMJCFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{ {
// UrdfLink* link = m_data->getLink(linkIndex); // UrdfLink* link = m_data->getLink(linkIndex);
@@ -1664,9 +1753,512 @@ bool BulletMJCFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
return true; return true;
} }
void BulletMJCFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const
{
GLInstanceGraphicsShape* glmesh = 0;
int strideInBytes = 9 * sizeof(float);
btConvexShape* convexColShape = 0;
switch (visual->m_geometry.m_type)
{
case URDF_GEOM_CAPSULE:
{
#if 1
btScalar height = visual->m_geometry.m_capsuleHeight;
btTransform capsuleTrans;
capsuleTrans.setIdentity();
if (visual->m_geometry.m_hasFromTo)
{
btVector3 f = visual->m_geometry.m_capsuleFrom;
btVector3 t = visual->m_geometry.m_capsuleTo;
//compute the local 'fromto' transform
btVector3 localPosition = btScalar(0.5)*(t + f);
btQuaternion localOrn;
localOrn = btQuaternion::getIdentity();
btVector3 diff = t - f;
btScalar lenSqr = diff.length2();
height = 0.f;
if (lenSqr > SIMD_EPSILON)
{
height = btSqrt(lenSqr);
btVector3 ax = diff / height;
btVector3 zAxis(0, 0, 1);
localOrn = shortestArcQuat(zAxis, ax);
}
capsuleTrans.setOrigin(localPosition);
capsuleTrans.setRotation(localOrn);
}
btScalar diam = 2.*visual->m_geometry.m_capsuleRadius;
b3AlignedObjectArray<GLInstanceVertex> transformedVertices;
int numVertices = sizeof(mjcf_sphere_vertices) / strideInBytes;
transformedVertices.resize(numVertices);
for (int i = 0; i<numVertices; i++)
{
btVector3 vert;
vert.setValue(mjcf_sphere_vertices[i * 9 + 0],
mjcf_sphere_vertices[i * 9 + 1],
mjcf_sphere_vertices[i * 9 + 2]);
btScalar halfHeight = 0.5*height;
btVector3 trVer = (diam*vert);
int up = 2; //default to z axis up for capsule
if (trVer[up]>0)
trVer[up] += halfHeight;
else
trVer[up] -= halfHeight;
trVer = capsuleTrans*trVer;
transformedVertices[i].xyzw[0] = trVer[0];
transformedVertices[i].xyzw[1] = trVer[1];
transformedVertices[i].xyzw[2] = trVer[2];
transformedVertices[i].xyzw[3] = 0;
transformedVertices[i].normal[0] = mjcf_sphere_vertices[i * 9 + 4];
transformedVertices[i].normal[1] = mjcf_sphere_vertices[i * 9 + 5];
transformedVertices[i].normal[2] = mjcf_sphere_vertices[i * 9 + 6];
//transformedVertices[i].uv[0] = mjcf_sphere_vertices[i * 9 + 7];
//transformedVertices[i].uv[1] = mjcf_sphere_vertices[i * 9 + 8];
btScalar u = btAtan2(transformedVertices[i].normal[0], transformedVertices[i].normal[2]) / (2 * SIMD_PI) + 0.5;
btScalar v = transformedVertices[i].normal[1] * 0.5 + 0.5;
transformedVertices[i].uv[0] = u;
transformedVertices[i].uv[1] = v;
}
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
int numIndices = sizeof(mjcf_sphere_indiced) / sizeof(int);
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(mjcf_sphere_indiced[i]);
}
for (int i = 0; i < transformedVertices.size(); i++)
{
glmesh->m_vertices->push_back(transformedVertices[i]);
}
glmesh->m_numIndices = numIndices;
glmesh->m_numvertices = transformedVertices.size();
glmesh->m_scaling[0] = 1;
glmesh->m_scaling[1] = 1;
glmesh->m_scaling[2] = 1;
glmesh->m_scaling[3] = 1;
#else
if (visual->m_geometry.m_hasFromTo)
{
btVector3 f = visual->m_geometry.m_capsuleFrom;
btVector3 t = visual->m_geometry.m_capsuleTo;
btVector3 fromto[2] = { f, t };
btScalar radii[2] = { btScalar(visual->m_geometry.m_capsuleRadius)
, btScalar(visual->m_geometry.m_capsuleRadius) };
btMultiSphereShape* ms = new btMultiSphereShape(fromto, radii, 2);
convexColShape = ms;
}
else
{
btCapsuleShapeZ* cap = new btCapsuleShapeZ(visual->m_geometry.m_capsuleRadius,
visual->m_geometry.m_capsuleHeight);
convexColShape = cap;
}
#endif
break;
}
case URDF_GEOM_CYLINDER:
{
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_capsuleRadius;
btScalar cylLength = visual->m_geometry.m_capsuleHeight;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
vert[2] = -cylLength / 2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
cylZShape->recalcLocalAabb();
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = visual->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
convexColShape = boxShape;
convexColShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
break;
}
case URDF_GEOM_SPHERE:
{
#if 1
btScalar sphereSize = 2.*visual->m_geometry.m_sphereRadius;
b3AlignedObjectArray<GLInstanceVertex> transformedVertices;
int numVertices = sizeof(mjcf_sphere_vertices) / strideInBytes;
transformedVertices.resize(numVertices);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
printf("vertices:\n");
for (int i = 0; i<numVertices; i++)
{
btVector3 vert;
vert.setValue(mjcf_sphere_vertices[i * 9 + 0],
mjcf_sphere_vertices[i * 9 + 1],
mjcf_sphere_vertices[i * 9 + 2]);
btVector3 trVer = sphereSize*vert;
transformedVertices[i].xyzw[0] = trVer[0];
transformedVertices[i].xyzw[1] = trVer[1];
transformedVertices[i].xyzw[2] = trVer[2];
transformedVertices[i].xyzw[3] = 0;
transformedVertices[i].normal[0] = mjcf_sphere_vertices[i * 9 + 4];
transformedVertices[i].normal[1] = mjcf_sphere_vertices[i * 9 + 5];
transformedVertices[i].normal[2] = mjcf_sphere_vertices[i * 9 + 6];
//transformedVertices[i].uv[0] = mjcf_sphere_vertices[i * 9 + 7];
//transformedVertices[i].uv[1] = mjcf_sphere_vertices[i * 9 + 8];
btScalar u = btAtan2(transformedVertices[i].normal[0], transformedVertices[i].normal[2]) / (2 * SIMD_PI) + 0.5;
btScalar v = transformedVertices[i].normal[1] * 0.5 + 0.5;
transformedVertices[i].uv[0] = u;
transformedVertices[i].uv[1] = v;
}
int numIndices = sizeof(mjcf_sphere_indiced) / sizeof(int);
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(mjcf_sphere_indiced[i]);
}
for (int i = 0; i < transformedVertices.size(); i++)
{
glmesh->m_vertices->push_back(transformedVertices[i]);
}
glmesh->m_numIndices = numIndices;
glmesh->m_numvertices = transformedVertices.size();
glmesh->m_scaling[0] = 1;
glmesh->m_scaling[1] = 1;
glmesh->m_scaling[2] = 1;
glmesh->m_scaling[3] = 1;
#else
btScalar radius = visual->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
convexColShape = sphereShape;
convexColShape->setMargin(m_data->m_globalDefaults.m_defaultCollisionMargin);
#endif
break;
}
case URDF_GEOM_MESH:
{
switch (visual->m_geometry.m_meshFileType)
{
case UrdfGeometry::FILE_OBJ:
{
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData))
{
if (meshData.m_textureImage1)
{
MJCFURDFTexture texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData1 = meshData.m_textureImage1;
texData.m_isCached = meshData.m_isCached;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
}
break;
}
case UrdfGeometry::FILE_STL:
{
glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str());
break;
}
case UrdfGeometry::FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(visual->m_geometry.m_meshFileName.c_str(),
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(visual->m_geometry.m_meshFileName);
break;
}
} // switch file type
if (!glmesh || !glmesh->m_vertices || glmesh->m_numvertices <= 0)
{
b3Warning("%s: cannot extract anything useful from mesh '%s'\n", urdfPathPrefix, visual->m_geometry.m_meshFileName.c_str());
break;
}
//apply the geometry scaling
for (int i = 0; i<glmesh->m_vertices->size(); i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
break;
}
case URDF_GEOM_PLANE:
{
b3Warning("No default visual for URDF_GEOM_PLANE");
break;
}
default:
{
b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
}
}
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh == 0) && convexColShape)
{
BT_PROFILE("convexColShape");
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
{
// int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices = hull->numIndices();
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i < numVertices; i++)
{
GLInstanceVertex vtx;
btVector3 pos = hull->getVertexPointer()[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f;
btVector3 normal = pos.normalized();
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);
}
btAlignedObjectArray<int> indices;
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
}
glmesh->m_numvertices = glmesh->m_vertices->size();
glmesh->m_numIndices = glmesh->m_indices->size();
}
delete hull;
delete convexColShape;
convexColShape = 0;
}
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
{
BT_PROFILE("glmesh");
int baseIndex = verticesOut.size();
for (int i = 0; i < glmesh->m_indices->size(); i++)
{
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
}
for (int i = 0; i < glmesh->m_vertices->size(); i++)
{
GLInstanceVertex& v = glmesh->m_vertices->at(i);
btVector3 vert(v.xyzw[0], v.xyzw[1], v.xyzw[2]);
btVector3 vt = visualTransform*vert;
v.xyzw[0] = vt[0];
v.xyzw[1] = vt[1];
v.xyzw[2] = vt[2];
btVector3 triNormal(v.normal[0], v.normal[1], v.normal[2]);
triNormal = visualTransform.getBasis()*triNormal;
v.normal[0] = triNormal[0];
v.normal[1] = triNormal[1];
v.normal[2] = triNormal[2];
verticesOut.push_back(v);
}
}
delete glmesh;
}
int BulletMJCFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const int BulletMJCFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
{ {
return -1; int graphicsIndex = -1;
if (m_data->m_flags&CUF_MJCF_COLORS_FROM_FILE)
{
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
btAlignedObjectArray<MJCFURDFTexture> textures;
const UrdfModel& model = *m_data->m_models[m_data->m_activeModel];
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
for (int v = 0; v < link->m_visualArray.size(); v++)
{
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName];
convertURDFToVisualShapeInternal(&vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices, textures);
}
}
if (vertices.size() && indices.size())
{
if (1)
{
int textureIndex = -2;
if (textures.size())
{
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData1, textures[0].m_width, textures[0].m_height);
}
{
B3_PROFILE("registerGraphicsShape");
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
}
}
}
//delete textures
for (int i = 0; i < textures.size(); i++)
{
B3_PROFILE("free textureData");
if (!textures[i].m_isCached)
{
free(textures[i].textureData1);
}
}
}
return graphicsIndex;
} }
bool BulletMJCFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const bool BulletMJCFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const

11
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
View File

@@ -12,12 +12,20 @@ struct MJCFErrorLogger
virtual void printMessage(const char* msg)=0; virtual void printMessage(const char* msg)=0;
}; };
struct MJCFURDFTexture
{
int m_width;
int m_height;
unsigned char* textureData1;
bool m_isCached;
};
class BulletMJCFImporter : public URDFImporterInterface class BulletMJCFImporter : public URDFImporterInterface
{ {
struct BulletMJCFImporterInternalData* m_data; struct BulletMJCFImporterInternalData* m_data;
void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MJCFURDFTexture>& texturesOut) const;
public: public:
BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags); BulletMJCFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter, int flags);
virtual ~BulletMJCFImporter(); virtual ~BulletMJCFImporter();
@@ -46,6 +54,7 @@ public:
/// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise /// optional method to provide the link color. return true if the color is available and copied into colorRGBA, return false otherwise
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const; virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
//optional method to get collision group (type) and mask (affinity) //optional method to get collision group (type) and mask (affinity)
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ; virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const ;

1
examples/Importers/ImportURDFDemo/URDF2Bullet.h
View File

@@ -25,6 +25,7 @@ enum ConvertURDFFlags {
CUF_RESERVED=64, CUF_RESERVED=64,
CUF_USE_IMPLICIT_CYLINDER=128, CUF_USE_IMPLICIT_CYLINDER=128,
CUF_GLOBAL_VELOCITIES_MB=256, CUF_GLOBAL_VELOCITIES_MB=256,
CUF_MJCF_COLORS_FROM_FILE=512,
}; };
void ConvertURDF2Bullet(const URDFImporterInterface& u2b, void ConvertURDF2Bullet(const URDFImporterInterface& u2b,

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -674,6 +674,7 @@ enum eURDF_Flags
URDF_RESERVED=64, URDF_RESERVED=64,
URDF_USE_IMPLICIT_CYLINDER =128, URDF_USE_IMPLICIT_CYLINDER =128,
URDF_GLOBAL_VELOCITIES_MB =256, URDF_GLOBAL_VELOCITIES_MB =256,
MJCF_COLORS_FROM_FILE=512,
}; };
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes 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[1] = pos.y();
vtx.xyzw[2] = pos.z(); vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f; vtx.xyzw[3] = 1.f;
pos.normalize(); btVector3 normal = pos.safeNormalize();
vtx.normal[0] = pos.x(); vtx.normal[0] = normal.x();
vtx.normal[1] = pos.y(); vtx.normal[1] = normal.y();
vtx.normal[2] = pos.z(); vtx.normal[2] = normal.z();
vtx.uv[0] = 0.5f; btScalar u = btAtan2(normal[0], normal[2]) / (2 * SIMD_PI) + 0.5;
vtx.uv[1] = 0.5f; btScalar v = normal[1] * 0.5 + 0.5;
vtx.uv[0] = u;
vtx.uv[1] = v;
glmesh->m_vertices->push_back(vtx); glmesh->m_vertices->push_back(vtx);
} }
@@ -586,18 +588,33 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
{ {
color.setValue(1,1,1,1); color.setValue(1,1,1,1);
} }
if (model && useVisual) if (model)
{ {
btHashString matName(linkPtr->m_visualArray[v1].m_materialName.c_str()); if (useVisual)
UrdfMaterial*const* matPtr = model->m_materials[matName];
if (matPtr)
{ {
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);
} }
} }

13
examples/pybullet/examples/quadruped.py
View File

@@ -4,7 +4,10 @@ import math
def drawInertiaBox(parentUid, parentLinkIndex, color): def drawInertiaBox(parentUid, parentLinkIndex, color):
mass,frictionCoeff, inertia =p.getDynamicsInfo(bodyUniqueId=parentUid,linkIndex=parentLinkIndex, flags = p.DYNAMICS_INFO_REPORT_INERTIA) dyn = p.getDynamicsInfo(parentUid, parentLinkIndex)
mass=dyn[0]
frictionCoeff=dyn[1]
inertia = dyn[2]
if (mass>0): if (mass>0):
Ixx = inertia[0] Ixx = inertia[0]
Iyy = inertia[1] Iyy = inertia[1]
@@ -79,7 +82,7 @@ p.setTimeStep(fixedTimeStep)
orn = p.getQuaternionFromEuler([0,0,0.4]) orn = p.getQuaternionFromEuler([0,0,0.4])
p.setRealTimeSimulation(0) p.setRealTimeSimulation(0)
quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates) quadruped = p.loadURDF("quadruped/minitaur_v1.urdf",[1,-1,.3],orn,useFixedBase=False, useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_USE_IMPLICIT_CYLINDER)
nJoints = p.getNumJoints(quadruped) nJoints = p.getNumJoints(quadruped)
jointNameToId = {} jointNameToId = {}
@@ -123,7 +126,11 @@ halfpi = 1.57079632679
twopi = 4*halfpi twopi = 4*halfpi
kneeangle = -2.1834 kneeangle = -2.1834
mass, friction, localInertiaDiagonal = p.getDynamicsInfo(quadruped,-1, flags=p.DYNAMICS_INFO_REPORT_INERTIA ) dyn = p.getDynamicsInfo(quadruped,-1)
mass=dyn[0]
friction=dyn[1]
localInertiaDiagonal = dyn[2]
print("localInertiaDiagonal",localInertiaDiagonal) print("localInertiaDiagonal",localInertiaDiagonal)
#this is a no-op, just to show the API #this is a no-op, just to show the API

32
examples/pybullet/pybullet.c
View File

@@ -526,6 +526,33 @@ void b3pybulletExitFunc(void)
} }
} }
static PyObject* pybullet_isConnected(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
int isConnected = 0;
int method = 0;
PyObject* pylist = 0;
PyObject* val = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = { "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm != 0)
{
if (b3CanSubmitCommand(sm))
{
isConnected = 1;
method = sPhysicsClientsGUI[physicsClientId];
}
}
return PyLong_FromLong(isConnected);
}
static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyObject* keywds) static PyObject* pybullet_getConnectionInfo(PyObject* self, PyObject* args, PyObject* keywds)
{ {
@@ -8249,6 +8276,10 @@ static PyMethodDef SpamMethods[] = {
"getConnectionInfo(physicsClientId=0)\n" "getConnectionInfo(physicsClientId=0)\n"
"Return if a given client id is connected, and using what method."}, "Return if a given client id is connected, and using what method."},
{ "isConnected", (PyCFunction)pybullet_isConnected, METH_VARARGS | METH_KEYWORDS,
"isConnected(physicsClientId=0)\n"
"Return if a given client id is connected." },
{"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS, {"resetSimulation", (PyCFunction)pybullet_resetSimulation, METH_VARARGS | METH_KEYWORDS,
"resetSimulation(physicsClientId=0)\n" "resetSimulation(physicsClientId=0)\n"
"Reset the simulation: remove all objects and start from an empty world."}, "Reset the simulation: remove all objects and start from an empty world."},
@@ -8818,6 +8849,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE); PyModule_AddIntConstant(m, "URDF_USE_INERTIA_FROM_FILE", URDF_USE_INERTIA_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_IMPLICIT_CYLINDER", URDF_USE_IMPLICIT_CYLINDER); PyModule_AddIntConstant(m, "URDF_USE_IMPLICIT_CYLINDER", URDF_USE_IMPLICIT_CYLINDER);
PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB); PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION); PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT); PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);

275
src/BulletCollision/CollisionShapes/btShapeHull.cpp
View File

@@ -20,6 +20,8 @@ subject to the following restrictions:
#include "LinearMath/btConvexHull.h" #include "LinearMath/btConvexHull.h"
#define NUM_UNITSPHERE_POINTS 42 #define NUM_UNITSPHERE_POINTS 42
#define NUM_UNITSPHERE_POINTS_HIGHRES 256
btShapeHull::btShapeHull (const btConvexShape* shape) btShapeHull::btShapeHull (const btConvexShape* shape)
{ {
@@ -36,9 +38,9 @@ btShapeHull::~btShapeHull ()
} }
bool bool
btShapeHull::buildHull (btScalar /*margin*/) btShapeHull::buildHull (btScalar /*margin*/, int highres)
{ {
int numSampleDirections = NUM_UNITSPHERE_POINTS; int numSampleDirections = highres? NUM_UNITSPHERE_POINTS_HIGHRES:NUM_UNITSPHERE_POINTS;
{ {
int numPDA = m_shape->getNumPreferredPenetrationDirections(); int numPDA = m_shape->getNumPreferredPenetrationDirections();
if (numPDA) if (numPDA)
@@ -53,11 +55,11 @@ btShapeHull::buildHull (btScalar /*margin*/)
} }
} }
btVector3 supportPoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2]; btVector3 supportPoints[NUM_UNITSPHERE_POINTS_HIGHRES+MAX_PREFERRED_PENETRATION_DIRECTIONS*2];
int i; int i;
for (i = 0; i < numSampleDirections; i++) for (i = 0; i < numSampleDirections; i++)
{ {
supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints()[i]); supportPoints[i] = m_shape->localGetSupportingVertex(getUnitSpherePoints(highres)[i]);
} }
HullDesc hd; HullDesc hd;
@@ -118,9 +120,268 @@ btShapeHull::numIndices () const
} }
btVector3* btShapeHull::getUnitSpherePoints() btVector3* btShapeHull::getUnitSpherePoints(int highres)
{ {
static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS+MAX_PREFERRED_PENETRATION_DIRECTIONS*2] = static btVector3 sUnitSpherePointsHighres[NUM_UNITSPHERE_POINTS_HIGHRES + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
{
btVector3(btScalar(0.997604), btScalar(0.067004), btScalar(0.017144)),
btVector3(btScalar(0.984139), btScalar(-0.086784), btScalar(-0.154427)),
btVector3(btScalar(0.971065), btScalar(0.124164), btScalar(-0.203224)),
btVector3(btScalar(0.955844), btScalar(0.291173), btScalar(-0.037704)),
btVector3(btScalar(0.957405), btScalar(0.212238), btScalar(0.195157)),
btVector3(btScalar(0.971650), btScalar(-0.012709), btScalar(0.235561)),
btVector3(btScalar(0.984920), btScalar(-0.161831), btScalar(0.059695)),
btVector3(btScalar(0.946673), btScalar(-0.299288), btScalar(-0.117536)),
btVector3(btScalar(0.922670), btScalar(-0.219186), btScalar(-0.317019)),
btVector3(btScalar(0.928134), btScalar(-0.007265), btScalar(-0.371867)),
btVector3(btScalar(0.875642), btScalar(0.198434), btScalar(-0.439988)),
btVector3(btScalar(0.908035), btScalar(0.325975), btScalar(-0.262562)),
btVector3(btScalar(0.864519), btScalar(0.488706), btScalar(-0.116755)),
btVector3(btScalar(0.893009), btScalar(0.428046), btScalar(0.137185)),
btVector3(btScalar(0.857494), btScalar(0.362137), btScalar(0.364776)),
btVector3(btScalar(0.900815), btScalar(0.132524), btScalar(0.412987)),
btVector3(btScalar(0.934964), btScalar(-0.241739), btScalar(0.259179)),
btVector3(btScalar(0.894570), btScalar(-0.103504), btScalar(0.434263)),
btVector3(btScalar(0.922085), btScalar(-0.376668), btScalar(0.086241)),
btVector3(btScalar(0.862177), btScalar(-0.499154), btScalar(-0.085330)),
btVector3(btScalar(0.861982), btScalar(-0.420218), btScalar(-0.282861)),
btVector3(btScalar(0.818076), btScalar(-0.328256), btScalar(-0.471804)),
btVector3(btScalar(0.762657), btScalar(-0.179329), btScalar(-0.621124)),
btVector3(btScalar(0.826857), btScalar(0.019760), btScalar(-0.561786)),
btVector3(btScalar(0.731434), btScalar(0.206599), btScalar(-0.649817)),
btVector3(btScalar(0.769486), btScalar(0.379052), btScalar(-0.513770)),
btVector3(btScalar(0.796806), btScalar(0.507176), btScalar(-0.328145)),
btVector3(btScalar(0.679722), btScalar(0.684101), btScalar(-0.264123)),
btVector3(btScalar(0.786854), btScalar(0.614886), btScalar(0.050912)),
btVector3(btScalar(0.769486), btScalar(0.571141), btScalar(0.285139)),
btVector3(btScalar(0.707432), btScalar(0.492789), btScalar(0.506288)),
btVector3(btScalar(0.774560), btScalar(0.268037), btScalar(0.572652)),
btVector3(btScalar(0.796220), btScalar(0.031230), btScalar(0.604077)),
btVector3(btScalar(0.837395), btScalar(-0.320285), btScalar(0.442461)),
btVector3(btScalar(0.848127), btScalar(-0.450548), btScalar(0.278307)),
btVector3(btScalar(0.775536), btScalar(-0.206354), btScalar(0.596465)),
btVector3(btScalar(0.816320), btScalar(-0.567007), btScalar(0.109469)),
btVector3(btScalar(0.741191), btScalar(-0.668690), btScalar(-0.056832)),
btVector3(btScalar(0.755632), btScalar(-0.602975), btScalar(-0.254949)),
btVector3(btScalar(0.720311), btScalar(-0.521318), btScalar(-0.457165)),
btVector3(btScalar(0.670746), btScalar(-0.386583), btScalar(-0.632835)),
btVector3(btScalar(0.587031), btScalar(-0.219769), btScalar(-0.778836)),
btVector3(btScalar(0.676015), btScalar(-0.003182), btScalar(-0.736676)),
btVector3(btScalar(0.566932), btScalar(0.186963), btScalar(-0.802064)),
btVector3(btScalar(0.618254), btScalar(0.398105), btScalar(-0.677533)),
btVector3(btScalar(0.653964), btScalar(0.575224), btScalar(-0.490933)),
btVector3(btScalar(0.525367), btScalar(0.743205), btScalar(-0.414028)),
btVector3(btScalar(0.506439), btScalar(0.836528), btScalar(-0.208885)),
btVector3(btScalar(0.651427), btScalar(0.756426), btScalar(-0.056247)),
btVector3(btScalar(0.641670), btScalar(0.745149), btScalar(0.180908)),
btVector3(btScalar(0.602643), btScalar(0.687211), btScalar(0.405180)),
btVector3(btScalar(0.516586), btScalar(0.596999), btScalar(0.613447)),
btVector3(btScalar(0.602252), btScalar(0.387801), btScalar(0.697573)),
btVector3(btScalar(0.646549), btScalar(0.153911), btScalar(0.746956)),
btVector3(btScalar(0.650842), btScalar(-0.087756), btScalar(0.753983)),
btVector3(btScalar(0.740411), btScalar(-0.497404), btScalar(0.451830)),
btVector3(btScalar(0.726946), btScalar(-0.619890), btScalar(0.295093)),
btVector3(btScalar(0.637768), btScalar(-0.313092), btScalar(0.703624)),
btVector3(btScalar(0.678942), btScalar(-0.722934), btScalar(0.126645)),
btVector3(btScalar(0.489072), btScalar(-0.867195), btScalar(-0.092942)),
btVector3(btScalar(0.622742), btScalar(-0.757541), btScalar(-0.194636)),
btVector3(btScalar(0.596788), btScalar(-0.693576), btScalar(-0.403098)),
btVector3(btScalar(0.550150), btScalar(-0.582172), btScalar(-0.598287)),
btVector3(btScalar(0.474436), btScalar(-0.429745), btScalar(-0.768101)),
btVector3(btScalar(0.372574), btScalar(-0.246016), btScalar(-0.894583)),
btVector3(btScalar(0.480095), btScalar(-0.026513), btScalar(-0.876626)),
btVector3(btScalar(0.352474), btScalar(0.177242), btScalar(-0.918787)),
btVector3(btScalar(0.441848), btScalar(0.374386), btScalar(-0.814946)),
btVector3(btScalar(0.492389), btScalar(0.582223), btScalar(-0.646693)),
btVector3(btScalar(0.343498), btScalar(0.866080), btScalar(-0.362693)),
btVector3(btScalar(0.362036), btScalar(0.745149), btScalar(-0.559639)),
btVector3(btScalar(0.334131), btScalar(0.937044), btScalar(-0.099774)),
btVector3(btScalar(0.486925), btScalar(0.871718), btScalar(0.052473)),
btVector3(btScalar(0.452776), btScalar(0.845665), btScalar(0.281820)),
btVector3(btScalar(0.399503), btScalar(0.771785), btScalar(0.494576)),
btVector3(btScalar(0.296469), btScalar(0.673018), btScalar(0.677469)),
btVector3(btScalar(0.392088), btScalar(0.479179), btScalar(0.785213)),
btVector3(btScalar(0.452190), btScalar(0.252094), btScalar(0.855286)),
btVector3(btScalar(0.478339), btScalar(0.013149), btScalar(0.877928)),
btVector3(btScalar(0.481656), btScalar(-0.219380), btScalar(0.848259)),
btVector3(btScalar(0.615327), btScalar(-0.494293), btScalar(0.613837)),
btVector3(btScalar(0.594642), btScalar(-0.650414), btScalar(0.472325)),
btVector3(btScalar(0.562249), btScalar(-0.771345), btScalar(0.297631)),
btVector3(btScalar(0.467411), btScalar(-0.437133), btScalar(0.768231)),
btVector3(btScalar(0.519513), btScalar(-0.847947), btScalar(0.103808)),
btVector3(btScalar(0.297640), btScalar(-0.938159), btScalar(-0.176288)),
btVector3(btScalar(0.446727), btScalar(-0.838615), btScalar(-0.311359)),
btVector3(btScalar(0.331790), btScalar(-0.942437), btScalar(0.040762)),
btVector3(btScalar(0.413358), btScalar(-0.748403), btScalar(-0.518259)),
btVector3(btScalar(0.347596), btScalar(-0.621640), btScalar(-0.701737)),
btVector3(btScalar(0.249831), btScalar(-0.456186), btScalar(-0.853984)),
btVector3(btScalar(0.131772), btScalar(-0.262931), btScalar(-0.955678)),
btVector3(btScalar(0.247099), btScalar(-0.042261), btScalar(-0.967975)),
btVector3(btScalar(0.113624), btScalar(0.165965), btScalar(-0.979491)),
btVector3(btScalar(0.217438), btScalar(0.374580), btScalar(-0.901220)),
btVector3(btScalar(0.307983), btScalar(0.554615), btScalar(-0.772786)),
btVector3(btScalar(0.166702), btScalar(0.953181), btScalar(-0.252021)),
btVector3(btScalar(0.172751), btScalar(0.844499), btScalar(-0.506743)),
btVector3(btScalar(0.177630), btScalar(0.711125), btScalar(-0.679876)),
btVector3(btScalar(0.120064), btScalar(0.992260), btScalar(-0.030482)),
btVector3(btScalar(0.289640), btScalar(0.949098), btScalar(0.122546)),
btVector3(btScalar(0.239879), btScalar(0.909047), btScalar(0.340377)),
btVector3(btScalar(0.181142), btScalar(0.821363), btScalar(0.540641)),
btVector3(btScalar(0.066986), btScalar(0.719097), btScalar(0.691327)),
btVector3(btScalar(0.156750), btScalar(0.545478), btScalar(0.823079)),
btVector3(btScalar(0.236172), btScalar(0.342306), btScalar(0.909353)),
btVector3(btScalar(0.277541), btScalar(0.112693), btScalar(0.953856)),
btVector3(btScalar(0.295299), btScalar(-0.121974), btScalar(0.947415)),
btVector3(btScalar(0.287883), btScalar(-0.349254), btScalar(0.891591)),
btVector3(btScalar(0.437165), btScalar(-0.634666), btScalar(0.636869)),
btVector3(btScalar(0.407113), btScalar(-0.784954), btScalar(0.466664)),
btVector3(btScalar(0.375111), btScalar(-0.888193), btScalar(0.264839)),
btVector3(btScalar(0.275394), btScalar(-0.560591), btScalar(0.780723)),
btVector3(btScalar(0.122015), btScalar(-0.992209), btScalar(-0.024821)),
btVector3(btScalar(0.087866), btScalar(-0.966156), btScalar(-0.241676)),
btVector3(btScalar(0.239489), btScalar(-0.885665), btScalar(-0.397437)),
btVector3(btScalar(0.167287), btScalar(-0.965184), btScalar(0.200817)),
btVector3(btScalar(0.201632), btScalar(-0.776789), btScalar(-0.596335)),
btVector3(btScalar(0.122015), btScalar(-0.637971), btScalar(-0.760098)),
btVector3(btScalar(0.008054), btScalar(-0.464741), btScalar(-0.885214)),
btVector3(btScalar(-0.116054), btScalar(-0.271096), btScalar(-0.955482)),
btVector3(btScalar(-0.000727), btScalar(-0.056065), btScalar(-0.998424)),
btVector3(btScalar(-0.134007), btScalar(0.152939), btScalar(-0.978905)),
btVector3(btScalar(-0.025900), btScalar(0.366026), btScalar(-0.930108)),
btVector3(btScalar(0.081231), btScalar(0.557337), btScalar(-0.826072)),
btVector3(btScalar(-0.002874), btScalar(0.917213), btScalar(-0.398023)),
btVector3(btScalar(-0.050683), btScalar(0.981761), btScalar(-0.182534)),
btVector3(btScalar(-0.040536), btScalar(0.710153), btScalar(-0.702713)),
btVector3(btScalar(-0.139081), btScalar(0.827973), btScalar(-0.543048)),
btVector3(btScalar(-0.101029), btScalar(0.994010), btScalar(0.041152)),
btVector3(btScalar(0.069328), btScalar(0.978067), btScalar(0.196133)),
btVector3(btScalar(0.023860), btScalar(0.911380), btScalar(0.410645)),
btVector3(btScalar(-0.153521), btScalar(0.736789), btScalar(0.658145)),
btVector3(btScalar(-0.070002), btScalar(0.591750), btScalar(0.802780)),
btVector3(btScalar(0.002590), btScalar(0.312948), btScalar(0.949562)),
btVector3(btScalar(0.090988), btScalar(-0.020680), btScalar(0.995627)),
btVector3(btScalar(0.088842), btScalar(-0.250099), btScalar(0.964006)),
btVector3(btScalar(0.083378), btScalar(-0.470185), btScalar(0.878318)),
btVector3(btScalar(0.240074), btScalar(-0.749764), btScalar(0.616374)),
btVector3(btScalar(0.210803), btScalar(-0.885860), btScalar(0.412987)),
btVector3(btScalar(0.077524), btScalar(-0.660524), btScalar(0.746565)),
btVector3(btScalar(-0.096736), btScalar(-0.990070), btScalar(-0.100945)),
btVector3(btScalar(-0.052634), btScalar(-0.990264), btScalar(0.127426)),
btVector3(btScalar(-0.106102), btScalar(-0.938354), btScalar(-0.328340)),
btVector3(btScalar(0.013323), btScalar(-0.863112), btScalar(-0.504596)),
btVector3(btScalar(-0.002093), btScalar(-0.936993), btScalar(0.349161)),
btVector3(btScalar(-0.106297), btScalar(-0.636610), btScalar(-0.763612)),
btVector3(btScalar(-0.229430), btScalar(-0.463769), btScalar(-0.855546)),
btVector3(btScalar(-0.245236), btScalar(-0.066175), btScalar(-0.966999)),
btVector3(btScalar(-0.351587), btScalar(-0.270513), btScalar(-0.896145)),
btVector3(btScalar(-0.370906), btScalar(0.133108), btScalar(-0.918982)),
btVector3(btScalar(-0.264360), btScalar(0.346000), btScalar(-0.900049)),
btVector3(btScalar(-0.151375), btScalar(0.543728), btScalar(-0.825291)),
btVector3(btScalar(-0.218697), btScalar(0.912741), btScalar(-0.344346)),
btVector3(btScalar(-0.274507), btScalar(0.953764), btScalar(-0.121635)),
btVector3(btScalar(-0.259677), btScalar(0.692266), btScalar(-0.673044)),
btVector3(btScalar(-0.350416), btScalar(0.798810), btScalar(-0.488786)),
btVector3(btScalar(-0.320170), btScalar(0.941127), btScalar(0.108297)),
btVector3(btScalar(-0.147667), btScalar(0.952792), btScalar(0.265034)),
btVector3(btScalar(-0.188061), btScalar(0.860636), btScalar(0.472910)),
btVector3(btScalar(-0.370906), btScalar(0.739900), btScalar(0.560941)),
btVector3(btScalar(-0.297143), btScalar(0.585334), btScalar(0.754178)),
btVector3(btScalar(-0.189622), btScalar(0.428241), btScalar(0.883393)),
btVector3(btScalar(-0.091272), btScalar(0.098695), btScalar(0.990747)),
btVector3(btScalar(-0.256945), btScalar(0.228375), btScalar(0.938827)),
btVector3(btScalar(-0.111761), btScalar(-0.133251), btScalar(0.984696)),
btVector3(btScalar(-0.118006), btScalar(-0.356253), btScalar(0.926725)),
btVector3(btScalar(-0.119372), btScalar(-0.563896), btScalar(0.817029)),
btVector3(btScalar(0.041228), btScalar(-0.833949), btScalar(0.550010)),
btVector3(btScalar(-0.121909), btScalar(-0.736543), btScalar(0.665172)),
btVector3(btScalar(-0.307681), btScalar(-0.931160), btScalar(-0.195026)),
btVector3(btScalar(-0.283679), btScalar(-0.957990), btScalar(0.041348)),
btVector3(btScalar(-0.227284), btScalar(-0.935243), btScalar(0.270890)),
btVector3(btScalar(-0.293436), btScalar(-0.858252), btScalar(-0.420860)),
btVector3(btScalar(-0.175767), btScalar(-0.780677), btScalar(-0.599262)),
btVector3(btScalar(-0.170108), btScalar(-0.858835), btScalar(0.482865)),
btVector3(btScalar(-0.332854), btScalar(-0.635055), btScalar(-0.696857)),
btVector3(btScalar(-0.447791), btScalar(-0.445299), btScalar(-0.775128)),
btVector3(btScalar(-0.470622), btScalar(-0.074146), btScalar(-0.879164)),
btVector3(btScalar(-0.639417), btScalar(-0.340505), btScalar(-0.689049)),
btVector3(btScalar(-0.598438), btScalar(0.104722), btScalar(-0.794256)),
btVector3(btScalar(-0.488575), btScalar(0.307699), btScalar(-0.816313)),
btVector3(btScalar(-0.379882), btScalar(0.513592), btScalar(-0.769077)),
btVector3(btScalar(-0.425740), btScalar(0.862775), btScalar(-0.272516)),
btVector3(btScalar(-0.480769), btScalar(0.875412), btScalar(-0.048439)),
btVector3(btScalar(-0.467890), btScalar(0.648716), btScalar(-0.600043)),
btVector3(btScalar(-0.543799), btScalar(0.730956), btScalar(-0.411881)),
btVector3(btScalar(-0.516284), btScalar(0.838277), btScalar(0.174076)),
btVector3(btScalar(-0.353343), btScalar(0.876384), btScalar(0.326519)),
btVector3(btScalar(-0.572875), btScalar(0.614497), btScalar(0.542007)),
btVector3(btScalar(-0.503600), btScalar(0.497261), btScalar(0.706161)),
btVector3(btScalar(-0.530920), btScalar(0.754870), btScalar(0.384685)),
btVector3(btScalar(-0.395884), btScalar(0.366414), btScalar(0.841818)),
btVector3(btScalar(-0.300656), btScalar(0.001678), btScalar(0.953661)),
btVector3(btScalar(-0.461060), btScalar(0.146912), btScalar(0.875000)),
btVector3(btScalar(-0.315486), btScalar(-0.232212), btScalar(0.919893)),
btVector3(btScalar(-0.323682), btScalar(-0.449187), btScalar(0.832644)),
btVector3(btScalar(-0.318999), btScalar(-0.639527), btScalar(0.699134)),
btVector3(btScalar(-0.496771), btScalar(-0.866029), btScalar(-0.055271)),
btVector3(btScalar(-0.496771), btScalar(-0.816257), btScalar(-0.294377)),
btVector3(btScalar(-0.456377), btScalar(-0.869528), btScalar(0.188130)),
btVector3(btScalar(-0.380858), btScalar(-0.827144), btScalar(0.412792)),
btVector3(btScalar(-0.449352), btScalar(-0.727405), btScalar(-0.518259)),
btVector3(btScalar(-0.570533), btScalar(-0.551064), btScalar(-0.608632)),
btVector3(btScalar(-0.656394), btScalar(-0.118280), btScalar(-0.744874)),
btVector3(btScalar(-0.756696), btScalar(-0.438105), btScalar(-0.484882)),
btVector3(btScalar(-0.801773), btScalar(-0.204798), btScalar(-0.561005)),
btVector3(btScalar(-0.785186), btScalar(0.038618), btScalar(-0.617805)),
btVector3(btScalar(-0.709082), btScalar(0.262399), btScalar(-0.654306)),
btVector3(btScalar(-0.583412), btScalar(0.462265), btScalar(-0.667383)),
btVector3(btScalar(-0.616001), btScalar(0.761286), btScalar(-0.201272)),
btVector3(btScalar(-0.660687), btScalar(0.750204), btScalar(0.020072)),
btVector3(btScalar(-0.744987), btScalar(0.435823), btScalar(-0.504791)),
btVector3(btScalar(-0.713765), btScalar(0.605554), btScalar(-0.351373)),
btVector3(btScalar(-0.686251), btScalar(0.687600), btScalar(0.236927)),
btVector3(btScalar(-0.680201), btScalar(0.429407), btScalar(0.593732)),
btVector3(btScalar(-0.733474), btScalar(0.546450), btScalar(0.403814)),
btVector3(btScalar(-0.591023), btScalar(0.292923), btScalar(0.751445)),
btVector3(btScalar(-0.500283), btScalar(-0.080757), btScalar(0.861922)),
btVector3(btScalar(-0.643710), btScalar(0.070115), btScalar(0.761985)),
btVector3(btScalar(-0.506332), btScalar(-0.308425), btScalar(0.805122)),
btVector3(btScalar(-0.503015), btScalar(-0.509847), btScalar(0.697573)),
btVector3(btScalar(-0.482525), btScalar(-0.682105), btScalar(0.549229)),
btVector3(btScalar(-0.680396), btScalar(-0.716323), btScalar(-0.153451)),
btVector3(btScalar(-0.658346), btScalar(-0.746264), btScalar(0.097562)),
btVector3(btScalar(-0.653272), btScalar(-0.646915), btScalar(-0.392948)),
btVector3(btScalar(-0.590828), btScalar(-0.732655), btScalar(0.337645)),
btVector3(btScalar(-0.819140), btScalar(-0.518013), btScalar(-0.246166)),
btVector3(btScalar(-0.900513), btScalar(-0.282178), btScalar(-0.330487)),
btVector3(btScalar(-0.914953), btScalar(-0.028652), btScalar(-0.402122)),
btVector3(btScalar(-0.859924), btScalar(0.220209), btScalar(-0.459898)),
btVector3(btScalar(-0.777185), btScalar(0.613720), btScalar(-0.137836)),
btVector3(btScalar(-0.805285), btScalar(0.586889), btScalar(0.082728)),
btVector3(btScalar(-0.872413), btScalar(0.406077), btScalar(-0.271735)),
btVector3(btScalar(-0.859339), btScalar(0.448072), btScalar(0.246101)),
btVector3(btScalar(-0.757671), btScalar(0.216320), btScalar(0.615594)),
btVector3(btScalar(-0.826165), btScalar(0.348139), btScalar(0.442851)),
btVector3(btScalar(-0.671810), btScalar(-0.162803), btScalar(0.722557)),
btVector3(btScalar(-0.796504), btScalar(-0.004543), btScalar(0.604468)),
btVector3(btScalar(-0.676298), btScalar(-0.378223), btScalar(0.631794)),
btVector3(btScalar(-0.668883), btScalar(-0.558258), btScalar(0.490673)),
btVector3(btScalar(-0.821287), btScalar(-0.570118), btScalar(0.006994)),
btVector3(btScalar(-0.767428), btScalar(-0.587810), btScalar(0.255470)),
btVector3(btScalar(-0.933296), btScalar(-0.349837), btScalar(-0.079865)),
btVector3(btScalar(-0.982667), btScalar(-0.100393), btScalar(-0.155208)),
btVector3(btScalar(-0.961396), btScalar(0.160910), btScalar(-0.222938)),
btVector3(btScalar(-0.934858), btScalar(0.354555), btScalar(-0.006864)),
btVector3(btScalar(-0.941687), btScalar(0.229736), btScalar(0.245711)),
btVector3(btScalar(-0.884317), btScalar(0.131552), btScalar(0.447536)),
btVector3(btScalar(-0.810359), btScalar(-0.219769), btScalar(0.542788)),
btVector3(btScalar(-0.915929), btScalar(-0.210048), btScalar(0.341743)),
btVector3(btScalar(-0.816799), btScalar(-0.407192), btScalar(0.408303)),
btVector3(btScalar(-0.903050), btScalar(-0.392416), btScalar(0.174076)),
btVector3(btScalar(-0.980325), btScalar(-0.170969), btScalar(0.096586)),
btVector3(btScalar(-0.995936), btScalar(0.084891), btScalar(0.029441)),
btVector3(btScalar(-0.960031), btScalar(0.002650), btScalar(0.279283)),
};
static btVector3 sUnitSpherePoints[NUM_UNITSPHERE_POINTS + MAX_PREFERRED_PENETRATION_DIRECTIONS * 2] =
{ {
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)), btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)), btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
@@ -165,6 +426,8 @@ btVector3* btShapeHull::getUnitSpherePoints()
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)), btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654)) btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
}; };
if (highres)
return sUnitSpherePointsHighres;
return sUnitSpherePoints; return sUnitSpherePoints;
} }

4
src/BulletCollision/CollisionShapes/btShapeHull.h
View File

@@ -34,7 +34,7 @@ protected:
unsigned int m_numIndices; unsigned int m_numIndices;
const btConvexShape* m_shape; const btConvexShape* m_shape;
static btVector3* getUnitSpherePoints(); static btVector3* getUnitSpherePoints(int highres=0);
public: public:
BT_DECLARE_ALIGNED_ALLOCATOR(); BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -42,7 +42,7 @@ public:
btShapeHull (const btConvexShape* shape); btShapeHull (const btConvexShape* shape);
~btShapeHull (); ~btShapeHull ();
bool buildHull (btScalar margin); bool buildHull (btScalar margin, int highres=0);
int numTriangles () const; int numTriangles () const;
int numVertices () const; int numVertices () const;