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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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15
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2452,6 +2452,21 @@ void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, dou
}
}
void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_UPDATE_VISUAL_SHAPE);
if (command->m_type == CMD_UPDATE_VISUAL_SHAPE)
{
command->m_updateVisualShapeDataArguments.m_specularColor[0] = specularColor[0];
command->m_updateVisualShapeDataArguments.m_specularColor[1] = specularColor[1];
command->m_updateVisualShapeDataArguments.m_specularColor[2] = specularColor[2];
command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR;
}
}
b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -210,6 +210,8 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);
void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

21
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -5664,7 +5664,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
int bodyUniqueId = clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId;
int linkIndex = clientCmd.m_updateVisualShapeDataArguments.m_jointIndex;
@@ -5680,7 +5679,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
//m_data->m_visualConverter.changeRGBAColor(...)
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
{
m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
}
}
} else
{
@@ -5690,7 +5697,15 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
//m_data->m_visualConverter.changeRGBAColor(...)
int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
{
m_data->m_guiHelper->changeSpecularColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
}
}
}
}

21
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -123,6 +123,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIDumpFramesToVideo,
eGUIHelperRemoveGraphicsInstance,
eGUIHelperChangeGraphicsInstanceRGBAColor,
eGUIHelperChangeGraphicsInstanceSpecularColor,
eGUIHelperSetVisualizerFlag,
};
@@ -918,6 +919,19 @@ public:
workerThreadWait();
}
double m_specularColor[3];
int m_graphicsInstanceChangeSpecular;
virtual void changeSpecularColor(int instanceUid, const double specularColor[3])
{
m_graphicsInstanceChangeSpecular = instanceUid;
m_specularColor[0] = specularColor[0];
m_specularColor[1] = specularColor[1];
m_specularColor[2] = specularColor[2];
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceSpecularColor);
workerThreadWait();
}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
@@ -1734,6 +1748,13 @@ void PhysicsServerExample::updateGraphics()
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceSpecularColor:
{
m_multiThreadedHelper->m_childGuiHelper->changeSpecularColor(m_multiThreadedHelper->m_graphicsInstanceChangeSpecular,m_multiThreadedHelper->m_specularColor);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperCopyCameraImageData:
{

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -255,6 +255,7 @@ enum EnumUpdateVisualShapeData
{
CMD_UPDATE_VISUAL_SHAPE_TEXTURE=1,
CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR=2,
CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR=4,
};
struct UpdateVisualShapeDataArgs
@@ -264,6 +265,7 @@ struct UpdateVisualShapeDataArgs
int m_shapeIndex;
int m_textureUniqueId;
double m_rgbaColor[4];
double m_specularColor[3];
};
struct LoadTextureArgs

10
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -179,10 +179,10 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
visualShapeOut.m_dimensions[2] = 0;
visualShapeOut.m_meshAssetFileName[0] = 0;
if (visual->m_geometry.m_hasLocalMaterial) {
visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_rgbaColor[0];
visualShapeOut.m_rgbaColor[1] = visual->m_geometry.m_localMaterial.m_rgbaColor[1];
visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_rgbaColor[2];
visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_rgbaColor[3];
visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0];
visualShapeOut.m_rgbaColor[1] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[1];
visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[2];
visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[3];
}
GLInstanceGraphicsShape* glmesh = 0;
@@ -555,7 +555,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
{
for (int i=0; i<4; i++)
{
rgbaColor[i] = (*matPtr)->m_rgbaColor[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);