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make pybullet.getMeshData work for softbody

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This commit is contained in:
Erwin Coumans
2019-06-17 21:43:38 -07:00
parent 20d9ad5f24
commit 7e76ee0ad7
10 changed files with 244 additions and 198 deletions
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155
examples/SharedMemory/RemoteGUIHelper.cpp
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@@ -16,7 +16,7 @@
struct RemoteGUIHelperInternalData
{
// GUIHelperInterface* m_guiHelper;
// GUIHelperInterface* m_guiHelper;
bool m_waitingForServer;
GraphicsSharedMemoryBlock* m_testBlock1;
SharedMemoryInterface* m_sharedMemory;
@@ -26,7 +26,7 @@ struct RemoteGUIHelperInternalData
RemoteGUIHelperInternalData()
: m_waitingForServer(false),
m_testBlock1(0)
m_testBlock1(0)
{
#ifdef _WIN32
m_sharedMemory = new Win32SharedMemoryClient();
@@ -36,7 +36,6 @@ struct RemoteGUIHelperInternalData
m_sharedMemoryKey = GRAPHICS_SHARED_MEMORY_KEY;
m_isConnected = false;
connect();
}
virtual ~RemoteGUIHelperInternalData()
@@ -98,7 +97,6 @@ struct RemoteGUIHelperInternalData
return false;
}
const GraphicsSharedMemoryStatus* processServerStatus()
{
// SharedMemoryStatus* stat = 0;
@@ -120,13 +118,12 @@ struct RemoteGUIHelperInternalData
return &m_lastServerStatus;
}
if (m_testBlock1->m_numServerCommands >
m_testBlock1->m_numProcessedServerCommands)
{
B3_PROFILE("processServerCMD");
b3Assert(m_testBlock1->m_numServerCommands ==
m_testBlock1->m_numProcessedServerCommands + 1);
m_testBlock1->m_numProcessedServerCommands + 1);
const GraphicsSharedMemoryStatus& serverCmd = m_testBlock1->m_serverCommands[0];
@@ -136,22 +133,21 @@ struct RemoteGUIHelperInternalData
// consume the command
switch (serverCmd.m_type)
{
case GFX_CMD_CLIENT_COMMAND_COMPLETED:
{
B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED");
case GFX_CMD_CLIENT_COMMAND_COMPLETED:
{
B3_PROFILE("CMD_CLIENT_COMMAND_COMPLETED");
break;
}
default:
{
}
break;
}
default:
{
}
}
m_testBlock1->m_numProcessedServerCommands++;
// we don't have more than 1 command outstanding (in total, either server or client)
b3Assert(m_testBlock1->m_numProcessedServerCommands ==
m_testBlock1->m_numServerCommands);
m_testBlock1->m_numServerCommands);
if (m_testBlock1->m_numServerCommands ==
m_testBlock1->m_numProcessedServerCommands)
@@ -163,7 +159,6 @@ struct RemoteGUIHelperInternalData
m_waitingForServer = true;
}
return &m_lastServerStatus;
}
return 0;
@@ -182,7 +177,7 @@ struct RemoteGUIHelperInternalData
{
b3Error("Error connecting to shared memory: please start server before client\n");
m_sharedMemory->releaseSharedMemory(m_sharedMemoryKey,
GRAPHICS_SHARED_MEMORY_SIZE);
GRAPHICS_SHARED_MEMORY_SIZE);
m_testBlock1 = 0;
return false;
}
@@ -199,7 +194,6 @@ struct RemoteGUIHelperInternalData
return true;
}
void disconnect()
{
if (m_isConnected && m_sharedMemory)
@@ -208,16 +202,9 @@ struct RemoteGUIHelperInternalData
}
m_isConnected = false;
}
};
RemoteGUIHelper::RemoteGUIHelper()
RemoteGUIHelper::RemoteGUIHelper()
{
m_data = new RemoteGUIHelperInternalData;
if (m_data->canSubmitCommand())
@@ -264,11 +251,11 @@ void RemoteGUIHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
{
// btAssert(graphicsShapeId >= 0);
//the graphics shape is already scaled
float localScaling[4] = { 1.f, 1.f, 1.f, 1.f };
float colorRGBA[4] = { (float)color[0], (float)color[1], (float)color[2], (float) color[3] };
float pos[4] = { (float)startTransform.getOrigin()[0], (float)startTransform.getOrigin()[1], (float)startTransform.getOrigin()[2], (float)startTransform.getOrigin()[3] };
float orn[4] = { (float)startTransform.getRotation()[0], (float)startTransform.getRotation()[1], (float)startTransform.getRotation()[2], (float)startTransform.getRotation()[3] };
int graphicsInstanceId = registerGraphicsInstance(graphicsShapeId, pos,orn, colorRGBA, localScaling);
float localScaling[4] = {1.f, 1.f, 1.f, 1.f};
float colorRGBA[4] = {(float)color[0], (float)color[1], (float)color[2], (float)color[3]};
float pos[4] = {(float)startTransform.getOrigin()[0], (float)startTransform.getOrigin()[1], (float)startTransform.getOrigin()[2], (float)startTransform.getOrigin()[3]};
float orn[4] = {(float)startTransform.getRotation()[0], (float)startTransform.getRotation()[1], (float)startTransform.getRotation()[2], (float)startTransform.getRotation()[3]};
int graphicsInstanceId = registerGraphicsInstance(graphicsShapeId, pos, orn, colorRGBA, localScaling);
body->setUserIndex(graphicsInstanceId);
}
}
@@ -285,46 +272,42 @@ void RemoteGUIHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
void RemoteGUIHelper::syncPhysicsToGraphics2(const btDiscreteDynamicsWorld* rbWorld)
{
b3AlignedObjectArray<GUISyncPosition> updatedPositions;
b3AlignedObjectArray<GUISyncPosition> updatedPositions;
int numCollisionObjects = rbWorld->getNumCollisionObjects();
{
B3_PROFILE("write all InstanceTransformToCPU2");
for (int i = 0; i < numCollisionObjects; i++)
{
//B3_PROFILE("writeSingleInstanceTransformToCPU");
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
btCollisionShape* collisionShape = colObj->getCollisionShape();
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj->getUserIndex();
if (index >= 0)
{
GUISyncPosition p;
p.m_graphicsInstanceId = index;
for (int q = 0; q < 4; q++)
{
p.m_pos[q] = pos[q];
p.m_orn[q] = orn[q];
}
updatedPositions.push_back(p);
}
}
}
if (updatedPositions.size())
{
syncPhysicsToGraphics2(&updatedPositions[0], updatedPositions.size());
}
}
int numCollisionObjects = rbWorld->getNumCollisionObjects();
{
B3_PROFILE("write all InstanceTransformToCPU2");
for (int i = 0; i < numCollisionObjects; i++)
{
//B3_PROFILE("writeSingleInstanceTransformToCPU");
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
btCollisionShape* collisionShape = colObj->getCollisionShape();
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj->getUserIndex();
if (index >= 0)
{
GUISyncPosition p;
p.m_graphicsInstanceId = index;
for (int q = 0; q < 4; q++)
{
p.m_pos[q] = pos[q];
p.m_orn[q] = orn[q];
}
updatedPositions.push_back(p);
}
}
}
if (updatedPositions.size())
{
syncPhysicsToGraphics2(&updatedPositions[0], updatedPositions.size());
}
}
void RemoteGUIHelper::syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions)
{
GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
if (cmd)
{
@@ -338,8 +321,6 @@ void RemoteGUIHelper::syncPhysicsToGraphics2(const GUISyncPosition* positions, i
while ((status = m_data->processServerStatus()) == 0)
{
}
}
void RemoteGUIHelper::render(const btDiscreteDynamicsWorld* rbWorld)
@@ -364,9 +345,9 @@ int RemoteGUIHelper::uploadData(const unsigned char* data, int sizeInBytes, int
{
for (int i = 0; i < curBytes; i++)
{
m_data->m_testBlock1->m_bulletStreamData[i] = data[i+offset];
m_data->m_testBlock1->m_bulletStreamData[i] = data[i + offset];
}
cmd->m_updateFlags = 0;
cmd->m_type = GFX_CMD_UPLOAD_DATA;
cmd->m_uploadDataCommand.m_numBytes = curBytes;
@@ -386,16 +367,15 @@ int RemoteGUIHelper::uploadData(const unsigned char* data, int sizeInBytes, int
}
int RemoteGUIHelper::registerTexture(const unsigned char* texels, int width, int height)
{
{
int textureId = -1;
//first upload all data
GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
if (cmd)
{
int sizeInBytes = width*height * 3;//rgb
int sizeInBytes = width * height * 3; //rgb
uploadData(texels, sizeInBytes, 0);
cmd->m_updateFlags = 0;
cmd->m_type = GFX_CMD_REGISTER_TEXTURE;
@@ -411,16 +391,14 @@ int RemoteGUIHelper::registerTexture(const unsigned char* texels, int width, int
textureId = status->m_registerTextureStatus.m_textureId;
}
}
return textureId;
return textureId;
}
int RemoteGUIHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
{
int RemoteGUIHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId)
{
int shapeId = -1;
GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
if (cmd)
{
@@ -444,11 +422,11 @@ int RemoteGUIHelper::registerGraphicsShape(const float* vertices, int numvertice
}
}
return shapeId;
return shapeId;
}
int RemoteGUIHelper::registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
{
int graphicsInstanceId = -1;
GraphicsSharedMemoryCommand* cmd = m_data->getAvailableSharedMemoryCommand();
@@ -473,9 +451,8 @@ int RemoteGUIHelper::registerGraphicsInstance(int shapeIndex, const float* posit
{
graphicsInstanceId = status->m_registerGraphicsInstanceStatus.m_graphicsInstanceId;
}
}
return graphicsInstanceId;
return graphicsInstanceId;
}
void RemoteGUIHelper::removeAllGraphicsInstances()
@@ -551,14 +528,14 @@ void RemoteGUIHelper::resetCamera(float camDist, float yaw, float pitch, float c
}
void RemoteGUIHelper::copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int width, int height, int* numPixelsCopied)
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
int startPixelIndex, int width, int height, int* numPixelsCopied)
{
if (numPixelsCopied)
*numPixelsCopied = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}
void RemoteGUIHelper::setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16])