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implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support.

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pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
This commit is contained in:
Erwin Coumans
2017-06-01 12:32:44 -07:00
parent 439e8c84cf
commit 87293e835c
36 changed files with 78766 additions and 87 deletions
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25
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -42,6 +42,7 @@ struct MyTexture
unsigned char* textureData;
};
ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
{
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -51,7 +52,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
std::string m_sourceFile;
char m_pathPrefix[1024];
int m_bodyId;
btHashMap<btHashInt,btVector4> m_linkColors;
btHashMap<btHashInt,UrdfMaterialColor> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
LinkVisualShapesConverter* m_customVisualShapesConverter;
@@ -1094,7 +1095,10 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
{
UrdfMaterial *const mat = *matPtr;
//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);
UrdfMaterialColor matCol;
matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor;
matCol.m_specularColor = mat->m_matColor.m_specularColor;
m_data->m_linkColors.insert(linkIndex,matCol);
}
convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
@@ -1132,10 +1136,21 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{
const btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
if (rgbaPtr)
const UrdfMaterialColor* matColPtr = m_data->m_linkColors[linkIndex];
if (matColPtr)
{
colorRGBA = *rgbaPtr;
colorRGBA = matColPtr->m_rgbaColor;
return true;
}
return false;
}
bool BulletURDFImporter::getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const
{
UrdfMaterialColor* matColPtr = m_data->m_linkColors[linkIndex];
if (matColPtr)
{
matCol = *matColPtr;
return true;
}
return false;

2
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -41,6 +41,8 @@ public:
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
virtual bool getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;
virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;

10
examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
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@@ -11,9 +11,17 @@ public:
virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) = 0;
virtual void createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex)
{
createRigidBodyGraphicsInstance(linkIndex,body,colorRgba,graphicsIndex);
}
///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba) = 0;
virtual void createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor)
{
createCollisionObjectGraphicsInstance(linkIndex,col,colorRgba);
}
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep) =0;

20
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -194,15 +194,33 @@ void MyMultiBodyCreator::addLinkMapping(int urdfLinkIndex, int mbLinkIndex)
void MyMultiBodyCreator::createRigidBodyGraphicsInstance(int linkIndex, btRigidBody* body, const btVector3& colorRgba, int graphicsIndex)
{
m_guiHelper->createRigidBodyGraphicsObject(body, colorRgba);
}
void MyMultiBodyCreator::createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex)
{
m_guiHelper->createRigidBodyGraphicsObject(body, colorRgba);
int graphicsInstanceId = body->getUserIndex();
m_guiHelper->changeSpecularColor(graphicsInstanceId,specularColor);
}
void MyMultiBodyCreator::createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* colObj, const btVector3& colorRgba)
{
m_guiHelper->createCollisionObjectGraphicsObject(colObj,colorRgba);
}
void MyMultiBodyCreator::createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor)
{
createCollisionObjectGraphicsInstance(linkIndex,col,colorRgba);
int graphicsInstanceId = col->getUserIndex();
m_guiHelper->changeSpecularColor(graphicsInstanceId,specularColor);
}
btMultiBody* MyMultiBodyCreator::getBulletMultiBody()
{
return m_bulletMultiBody;

4
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
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@@ -41,10 +41,12 @@ public:
virtual ~MyMultiBodyCreator() {}
virtual void createRigidBodyGraphicsInstance(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, int graphicsIndex) ;
virtual void createRigidBodyGraphicsInstance2(int linkIndex, class btRigidBody* body, const btVector3& colorRgba, const btVector3& specularColor, int graphicsIndex) ;
///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba);
virtual void createCollisionObjectGraphicsInstance2(int linkIndex, class btCollisionObject* col, const btVector4& colorRgba, const btVector3& specularColor);
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep);
virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape);

26
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -272,8 +272,15 @@ void ConvertURDF2BulletInternal(
{
btVector4 color = selectColor2();
u2b.getLinkColor(urdfLinkIndex,color);
UrdfMaterialColor matColor;
btVector4 color2 = selectColor2();
btVector3 specular(0.5,0.5,0.5);
if (u2b.getLinkColor2(urdfLinkIndex,matColor))
{
color2 = matColor.m_rgbaColor;
specular = matColor.m_specularColor;
}
/*
if (visual->material.get())
{
@@ -315,7 +322,7 @@ void ConvertURDF2BulletInternal(
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
processContactParameters(contactInfo, body);
creation.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex);
creation.createRigidBodyGraphicsInstance2(urdfLinkIndex, body, color2,specular, graphicsIndex);
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
@@ -490,9 +497,16 @@ void ConvertURDF2BulletInternal(
}
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
btVector4 color = selectColor2();//(0.0,0.0,0.5);
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
btVector4 color2 = selectColor2();//(0.0,0.0,0.5);
btVector3 specularColor(1,1,1);
UrdfMaterialColor matCol;
if (u2b.getLinkColor2(urdfLinkIndex,matCol))
{
color2 = matCol.m_rgbaColor;
specularColor = matCol.m_specularColor;
}
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex,col,color2,specularColor);
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame,col, u2b.getBodyUniqueId());

3
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -36,6 +36,9 @@ public:
/// 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 { return false;}
virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const { return false;}
virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const { return 0;}
///this API will likely change, don't override it!
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const { return false;}

11
examples/Importers/ImportURDFDemo/URDFJointTypes.h
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@@ -63,4 +63,15 @@ enum UrdfCollisionFlags
URDF_HAS_COLLISION_MASK=4,
};
struct UrdfMaterialColor
{
btVector4 m_rgbaColor;
btVector3 m_specularColor;
UrdfMaterialColor()
:m_rgbaColor(0.8, 0.8, 0.8, 1),
m_specularColor(0.5,0.5,0.5)
{
}
};
#endif //URDF_JOINT_TYPES_H

66
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -100,17 +100,33 @@ bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, Err
}
// color
TiXmlElement *c = config->FirstChildElement("color");
if (c)
{
if (c->Attribute("rgba"))
{
if (!parseVector4(material.m_rgbaColor,c->Attribute("rgba")))
TiXmlElement *c = config->FirstChildElement("color");
if (c)
{
if (c->Attribute("rgba"))
{
std::string msg = material.m_name+" has no rgba";
logger->reportWarning(msg.c_str());
if (!parseVector4(material.m_matColor.m_rgbaColor,c->Attribute("rgba")))
{
std::string msg = material.m_name+" has no rgba";
logger->reportWarning(msg.c_str());
}
}
}
}
}
{
// specular (non-standard)
TiXmlElement *s = config->FirstChildElement("specular");
if (s)
{
if (s->Attribute("rgb"))
{
if (!parseVector3(material.m_matColor.m_specularColor,s->Attribute("rgb"),logger))
{
}
}
}
}
return true;
@@ -552,16 +568,29 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
if (name_char)
matPtr->m_name = name_char;
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) {
std::string diffuseText = diffuse->GetText();
btVector4 rgba(1,0,0,1);
parseVector4(rgba,diffuseText);
matPtr->m_rgbaColor = rgba;
{
TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) {
std::string diffuseText = diffuse->GetText();
btVector4 rgba(1,0,0,1);
parseVector4(rgba,diffuseText);
matPtr->m_matColor.m_rgbaColor = rgba;
visual.m_materialName = matPtr->m_name;
visual.m_geometry.m_hasLocalMaterial = true;
}
visual.m_materialName = matPtr->m_name;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
{
TiXmlElement *specular = mat->FirstChildElement("specular");
if (specular) {
std::string specularText = specular->GetText();
btVector3 rgba(1,1,1);
parseVector3(rgba,specularText,logger);
matPtr->m_matColor.m_specularColor = rgba;
visual.m_materialName = matPtr->m_name;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
}
else
{
@@ -577,7 +606,8 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
TiXmlElement *t = mat->FirstChildElement("texture");
TiXmlElement *c = mat->FirstChildElement("color");
if (t||c)
TiXmlElement *s = mat->FirstChildElement("specular");
if (t||c||s)
{
if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
{

8
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -17,13 +17,15 @@ struct ErrorLogger
virtual void printMessage(const char* msg)=0;
};
struct UrdfMaterial
{
std::string m_name;
std::string m_textureFilename;
btVector4 m_rgbaColor; // [0]==r [1]==g [2]==b [3]==a
UrdfMaterial():
m_rgbaColor(0.8, 0.8, 0.8, 1)
UrdfMaterialColor m_matColor;
UrdfMaterial()
{
}
};