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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;