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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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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1210,7 +1210,8 @@ B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle co
return -1;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId){
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
@@ -1220,23 +1221,23 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClie
b3Assert(command);
command->m_type = CMD_REQUEST_MESH_DATA;
command->m_updateFlags = 0;
command->m_requestMeshDataArgs.m_startingVertex = 0;
command->m_requestMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
command->m_requestMeshDataArgs.m_linkIndex = linkIndex;
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData){
PhysicsClient* cl = (PhysicsClient*)physClient;
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
if (cl)
{
cl->getCachedMeshData(meshData);
}
}
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius)
{
return b3CreateCollisionShapeAddSphere(commandHandle, radius);

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -491,7 +491,7 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRemoveCollisionShapeCommand(b3PhysicsClientHandle physClient, int collisionShapeId);
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId);
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex);
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);

57
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -53,8 +53,8 @@ struct PhysicsClientSharedMemoryInternalData
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
b3MeshData m_cachedMeshData;
btAlignedObjectArray<double> m_cachedVertexPositions;
b3MeshData m_cachedMeshData;
btAlignedObjectArray<b3MeshVertex> m_cachedVertexPositions;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
btAlignedObjectArray<b3KeyboardEvent> m_cachedKeyboardEvents;
@@ -100,6 +100,8 @@ struct PhysicsClientSharedMemoryInternalData
m_verboseOutput(false),
m_timeOutInSeconds(1e30)
{
m_cachedMeshData.m_numVertices = 0;
m_cachedMeshData.m_vertices = 0;
}
void processServerStatus();
@@ -1035,15 +1037,24 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
b3Warning("Camera image FAILED\n");
break;
}
case CMD_REQUEST_MESH_DATA_COMPLETED:
{
break;
}
case CMD_REQUEST_MESH_DATA_FAILED:
{
b3Warning("Request mesh data failed");
break;
}
case CMD_REQUEST_MESH_DATA_COMPLETED:
{
m_data->m_cachedVertexPositions.resize(serverCmd.m_sendMeshDataArgs.m_startingVertex + serverCmd.m_sendMeshDataArgs.m_numVerticesCopied);
btVector3* verticesReceived = (btVector3*)m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor;
for (int i = 0; i < serverCmd.m_sendMeshDataArgs.m_numVerticesCopied; i++)
{
m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].x = verticesReceived[i].x();
m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].y = verticesReceived[i].y();
m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].z = verticesReceived[i].z();
m_data->m_cachedVertexPositions[i + serverCmd.m_sendMeshDataArgs.m_startingVertex].w = verticesReceived[i].w();
}
break;
}
case CMD_REQUEST_MESH_DATA_FAILED:
{
b3Warning("Request mesh data failed");
break;
}
case CMD_CALCULATED_INVERSE_DYNAMICS_COMPLETED:
{
break;
@@ -1770,15 +1781,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
}
}
if(serverCmd.m_type == CMD_REQUEST_MESH_DATA_COMPLETED)
{
if (serverCmd.m_type == CMD_REQUEST_MESH_DATA_COMPLETED)
{
B3_PROFILE("CMD_REQUEST_MESH_DATA_COMPLETED");
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendMeshDataArgs.m_numVerticesRemaining > 0 && serverCmd.m_sendMeshDataArgs.m_numVerticesCopied)
if (serverCmd.m_sendMeshDataArgs.m_numVerticesRemaining > 0 && serverCmd.m_sendMeshDataArgs.m_numVerticesCopied)
{
command.m_type = CMD_REQUEST_MESH_DATA;
command.m_requestMeshDataArgs.m_startingVertex=
command.m_requestMeshDataArgs.m_startingVertex =
serverCmd.m_sendMeshDataArgs.m_startingVertex +
serverCmd.m_sendMeshDataArgs.m_numVerticesCopied;
submitClientCommand(command);
@@ -1786,9 +1797,9 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
}
else
{
m_data->m_cachedMeshData.m_numVertices =serverCmd.m_sendMeshDataArgs.m_startingVertex +serverCmd.m_sendMeshDataArgs.m_numVerticesCopied;
m_data->m_cachedMeshData.m_numVertices = serverCmd.m_sendMeshDataArgs.m_startingVertex + serverCmd.m_sendMeshDataArgs.m_numVerticesCopied;
}
}
}
if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) &&
(serverCmd.m_sendDebugLinesArgs.m_numRemainingDebugLines > 0))
@@ -1972,9 +1983,13 @@ void PhysicsClientSharedMemory::getCachedCollisionShapeInformation(struct b3Coll
collisionShapesInfo->m_collisionShapeData = collisionShapesInfo->m_numCollisionShapes ? &m_data->m_cachedCollisionShapes[0] : 0;
}
void PhysicsClientSharedMemory::getCachedMeshData(struct b3MeshData* meshData){
*meshData = m_data->m_cachedMeshData;
void PhysicsClientSharedMemory::getCachedMeshData(struct b3MeshData* meshData)
{
m_data->m_cachedMeshData.m_numVertices = m_data->m_cachedVertexPositions.size();
m_data->m_cachedMeshData.m_vertices = m_data->m_cachedMeshData.m_numVertices ? &m_data->m_cachedVertexPositions[0] : 0;
*meshData = m_data->m_cachedMeshData;
}
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const

48
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -66,8 +66,8 @@ struct PhysicsDirectInternalData
btAlignedObjectArray<b3VisualShapeData> m_cachedVisualShapes;
btAlignedObjectArray<b3CollisionShapeData> m_cachedCollisionShapes;
b3MeshData m_cachedMeshData;
btAlignedObjectArray<double> m_cachedVertexPositions;
b3MeshData m_cachedMeshData;
btAlignedObjectArray<b3MeshVertex> m_cachedVertexPositions;
btAlignedObjectArray<b3VRControllerEvent> m_cachedVREvents;
@@ -94,6 +94,7 @@ struct PhysicsDirectInternalData
m_ownsCommandProcessor(false),
m_timeOutInSeconds(1e30)
{
memset(&m_cachedMeshData.m_numVertices, 0, sizeof(b3MeshData));
memset(&m_command, 0, sizeof(m_command));
memset(&m_serverStatus, 0, sizeof(m_serverStatus));
memset(m_bulletStreamDataServerToClient, 0, sizeof(m_bulletStreamDataServerToClient));
@@ -589,13 +590,12 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
return m_data->m_hasStatus;
}
bool PhysicsDirect::processMeshData(const struct SharedMemoryCommand& orgCommand)
{
SharedMemoryCommand command = orgCommand;
const SharedMemoryStatus& serverCmd = m_data->m_serverStatus;
do
do
{
bool hasStatus = m_data->m_commandProcessor->processCommand(command, m_data->m_serverStatus, &m_data->m_bulletStreamDataServerToClient[0], SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
@@ -622,21 +622,23 @@ bool PhysicsDirect::processMeshData(const struct SharedMemoryCommand& orgCommand
b3Printf("Mesh data OK\n");
}
const b3SendMeshDataArgs& args = serverCmd.m_sendMeshDataArgs;
int numTotalPixels =args.m_startingVertex +
args.m_numVerticesCopied + args.m_numVerticesRemaining;
const b3SendMeshDataArgs& args = serverCmd.m_sendMeshDataArgs;
int numTotalPixels = args.m_startingVertex +
args.m_numVerticesCopied + args.m_numVerticesRemaining;
double* verticesReceived =
(double*)&m_data->m_bulletStreamDataServerToClient[0];
btVector3* verticesReceived =
(btVector3*)&m_data->m_bulletStreamDataServerToClient[0];
// flattened position
const int dimension = 3;
m_data->m_cachedVertexPositions.resize((args.m_startingVertex +
args.m_numVerticesCopied)*dimension);
m_data->m_cachedVertexPositions.resize(args.m_startingVertex +
args.m_numVerticesCopied);
for (int i = 0; i < dimension*args.m_numVerticesCopied; i++)
for (int i = 0; i < args.m_numVerticesCopied; i++)
{
m_data->m_cachedVertexPositions[i + dimension*args.m_startingVertex] = verticesReceived[i];
m_data->m_cachedVertexPositions[i + args.m_startingVertex].x = verticesReceived[i].x();
m_data->m_cachedVertexPositions[i + args.m_startingVertex].y = verticesReceived[i].y();
m_data->m_cachedVertexPositions[i + args.m_startingVertex].z = verticesReceived[i].z();
m_data->m_cachedVertexPositions[i + args.m_startingVertex].w = verticesReceived[i].w();
}
if (args.m_numVerticesRemaining > 0 && args.m_numVerticesCopied)
@@ -646,12 +648,12 @@ bool PhysicsDirect::processMeshData(const struct SharedMemoryCommand& orgCommand
// continue requesting remaining vertices
command.m_type = CMD_REQUEST_MESH_DATA;
command.m_requestMeshDataArgs.m_startingVertex =
args.m_startingVertex + args.m_numVerticesCopied;
args.m_startingVertex + args.m_numVerticesCopied;
}
else
{
m_data->m_cachedMeshData.m_numVertices=args.m_startingVertex +
args.m_numVerticesCopied;
m_data->m_cachedMeshData.m_numVertices = args.m_startingVertex +
args.m_numVerticesCopied;
}
}
} while (serverCmd.m_sendMeshDataArgs.m_numVerticesRemaining > 0 && serverCmd.m_sendMeshDataArgs.m_numVerticesCopied);
@@ -1526,9 +1528,15 @@ void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
}
}
void PhysicsDirect::getCachedMeshData(struct b3MeshData* meshData){
*meshData = m_data->m_cachedMeshData;
void PhysicsDirect::getCachedMeshData(struct b3MeshData* meshData)
{
m_data->m_cachedMeshData.m_numVertices = m_data->m_cachedVertexPositions.size();
m_data->m_cachedMeshData.m_vertices = m_data->m_cachedMeshData.m_numVertices ? &m_data->m_cachedVertexPositions[0] : 0;
*meshData = m_data->m_cachedMeshData;
}
void PhysicsDirect::getCachedContactPointInformation(struct b3ContactInformation* contactPointData)
{
contactPointData->m_numContactPoints = m_data->m_cachedContactPoints.size();

43
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4630,16 +4630,41 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_MESH_DATA");
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_FAILED;
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_FAILED;
serverStatusOut.m_numDataStreamBytes = 0;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
if (bodyHandle)
{
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = 1;
serverStatusOut.m_sendMeshDataArgs.m_startingVertex = 0;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = 0;
if (bodyHandle->m_multiBody)
{
//todo
}
if (bodyHandle->m_rigidBody)
{
//todo
}
if (bodyHandle->m_softBody)
{
btSoftBody* psb = bodyHandle->m_softBody;
int totalBytesPerVertex = sizeof(btVector3);
int numVertices = psb->m_nodes.size();
int maxNumVertices = bufferSizeInBytes / totalBytesPerVertex - 1;
int numVerticesRemaining = numVertices - clientCmd.m_requestMeshDataArgs.m_startingVertex;
int verticesCopied = btMin(maxNumVertices, numVerticesRemaining);
btVector3* verticesOut = (btVector3*)bufferServerToClient;
for (int i = 0; i < verticesCopied; ++i)
{
const btSoftBody::Node& n = psb->m_nodes[i+ clientCmd.m_requestMeshDataArgs.m_startingVertex];
verticesOut[i] = n.m_x;
}
serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
serverStatusOut.m_sendMeshDataArgs.m_numVerticesRemaining = numVerticesRemaining - verticesCopied;
}
}
serverStatusOut.m_numDataStreamBytes = 0;
@@ -4647,7 +4672,6 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
return hasStatus;
}
bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@@ -11309,10 +11333,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processCreateVisualShapeCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_REQUEST_MESH_DATA:{
hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
case CMD_REQUEST_MESH_DATA:
{
hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
}
case CMD_CREATE_MULTI_BODY:
{
hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);

155
examples/SharedMemory/RemoteGUIHelper.cpp
View File

@@ -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])

21
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -1054,15 +1054,18 @@ struct AddUserDataRequestArgs
// Value data stored in m_bulletStreamDataServerToClientRefactor.
};
struct b3RequestMeshDataArgs{
int m_bodyUniqueId;
int m_startingVertex;
struct b3RequestMeshDataArgs
{
int m_bodyUniqueId;
int m_linkIndex;
int m_startingVertex;
};
struct b3SendMeshDataArgs{
int m_numVerticesCopied;
int m_startingVertex;
int m_numVerticesRemaining;
struct b3SendMeshDataArgs
{
int m_numVerticesCopied;
int m_startingVertex;
int m_numVerticesRemaining;
};
struct SharedMemoryCommand
@@ -1124,7 +1127,7 @@ struct SharedMemoryCommand
struct AddUserDataRequestArgs m_addUserDataRequestArgs;
struct UserDataRequestArgs m_removeUserDataRequestArgs;
struct b3CollisionFilterArgs m_collisionFilterArgs;
struct b3RequestMeshDataArgs m_requestMeshDataArgs;
struct b3RequestMeshDataArgs m_requestMeshDataArgs;
};
};
@@ -1200,7 +1203,7 @@ struct SharedMemoryStatus
struct UserDataResponseArgs m_userDataResponseArgs;
struct UserDataRequestArgs m_removeUserDataResponseArgs;
struct b3ForwardDynamicsAnalyticsArgs m_forwardDynamicsAnalyticsArgs;
struct b3SendMeshDataArgs m_sendMeshDataArgs;
struct b3SendMeshDataArgs m_sendMeshDataArgs;
};
};

16
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -101,9 +101,8 @@ enum EnumSharedMemoryClientCommand
CMD_ADD_USER_DATA,
CMD_REMOVE_USER_DATA,
CMD_COLLISION_FILTER,
CMD_REQUEST_MESH_DATA,
CMD_REQUEST_MESH_DATA,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
};
@@ -224,8 +223,8 @@ enum EnumSharedMemoryServerStatus
CMD_REMOVE_STATE_COMPLETED,
CMD_REMOVE_STATE_FAILED,
CMD_REQUEST_MESH_DATA_COMPLETED,
CMD_REQUEST_MESH_DATA_FAILED,
CMD_REQUEST_MESH_DATA_COMPLETED,
CMD_REQUEST_MESH_DATA_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -411,10 +410,15 @@ struct b3CameraImageData
const int* m_segmentationMaskValues; //m_pixelWidth*m_pixelHeight ints
};
struct b3MeshVertex
{
double x, y, z, w;
};
struct b3MeshData
{
int m_numVertices;
double* m_vertices;
int m_numVertices;
struct b3MeshVertex* m_vertices;
};
struct b3OpenGLVisualizerCameraInfo

4
examples/pybullet/examples/load_soft_body.py
View File

@@ -1,11 +1,13 @@
import pybullet as p
from time import sleep
physicsClient = p.connect(p.GUI)
physicsClient = p.connect(p.DIRECT)
p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf")
bunnyId = p.loadSoftBody("bunny.obj")
#meshData = p.getMeshData(bunnyId)
#print("meshData=",meshData)
p.loadURDF("cube_small.urdf", [1, 0, 1])
useRealTimeSimulation = 1

83
examples/pybullet/pybullet.c
View File

@@ -7358,46 +7358,57 @@ static PyObject* pybullet_createCollisionShapeArray(PyObject* self, PyObject* ar
return NULL;
}
static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject* keywds)
{
{
int bodyUniqueId = -1;
b3PhysicsClientHandle sm = 0;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
struct b3MeshData meshData;
int statusType;
int bodyUniqueId = -1;
int linkIndex = -1;
b3PhysicsClientHandle sm = 0;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
struct b3MeshData meshData;
int statusType;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &bodyUniqueId, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3GetMeshDataCommandInit(sm, bodyUniqueId);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_MESH_DATA_COMPLETED)
{
b3GetMeshData(sm, &meshData);
PyObject* pyListMeshData = PyTuple_New(1);
PyTuple_SetItem(pyListMeshData, 0, PyInt_FromLong(meshData.m_numVertices));
return pyListMeshData;
}
}
PyErr_SetString(SpamError, "Couldn't get body info");
return NULL;
int physicsClientId = 0;
static char* kwlist[] = {"bodyUniqueId", "linkIndex", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|ii", kwlist, &bodyUniqueId, &linkIndex, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
command = b3GetMeshDataCommandInit(sm, bodyUniqueId, linkIndex);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_REQUEST_MESH_DATA_COMPLETED)
{
int i;
PyObject* pyVertexData;
PyObject* pyListMeshData = PyTuple_New(2);
b3GetMeshData(sm, &meshData);
PyTuple_SetItem(pyListMeshData, 0, PyInt_FromLong(meshData.m_numVertices));
pyVertexData = PyTuple_New(meshData.m_numVertices);
PyTuple_SetItem(pyListMeshData, 1, pyVertexData);
for (i = 0; i < meshData.m_numVertices; i++)
{
PyObject* pyListVertex = PyTuple_New(3);
PyTuple_SetItem(pyListVertex, 0, PyFloat_FromDouble(meshData.m_vertices[i].x));
PyTuple_SetItem(pyListVertex, 1, PyFloat_FromDouble(meshData.m_vertices[i].y));
PyTuple_SetItem(pyListVertex, 2, PyFloat_FromDouble(meshData.m_vertices[i].z));
PyTuple_SetItem(pyVertexData, i, pyListVertex);
}
return pyListMeshData;
}
PyErr_SetString(SpamError, "getMeshData failed");
return NULL;
}
static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@@ -10485,7 +10496,7 @@ static PyMethodDef SpamMethods[] = {
{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
"Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
"Get mesh data. Returns vertices etc from the mesh."},
{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,