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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
Download Patch File Download Diff File Expand all files Collapse all files

38
Extras/obj2sdf/obj2sdf.cpp
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@@ -16,6 +16,24 @@
#define MAX_PATH_LEN 1024
std::string StripExtension( const std::string & sPath )
{
for( std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++ )
{
if( *i == '.' )
{
return std::string( sPath.begin(), i.base() - 1 );
}
// if we find a slash there is no extension
if( *i == '\\' || *i == '/' )
break;
}
// we didn't find an extension
return sPath;
}
int main(int argc, char* argv[])
{
@@ -23,6 +41,8 @@ int main(int argc, char* argv[])
char* fileName;
args.GetCmdLineArgument("fileName",fileName);
std::string matLibName = StripExtension(fileName);
printf("fileName = %s\n", fileName);
if (fileName==0)
{
@@ -58,7 +78,13 @@ int main(int argc, char* argv[])
}
char objFileName[MAX_PATH_LEN];
sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
if (strlen(materialPrefixPath)>0)
{
sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
} else
{
sprintf(objFileName,"part%d.obj",s);
}
FILE* f = fopen(objFileName,"w");
if (f==0)
{
@@ -66,7 +92,15 @@ int main(int argc, char* argv[])
exit(0);
}
fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
fprintf(f,"mtllib bedroom.mtl\n");
if (matLibName.length())
{
fprintf(f,"mtllib %s.mtl\n", matLibName.c_str());
} else
{
fprintf(f,"mtllib bedroom.mtl\n");
}
int faceCount = shape.mesh.indices.size();
int vertexCount = shape.mesh.positions.size();

23154
data/roboschool/models_outdoor/stadium/part0.obj Normal file
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16210
data/roboschool/models_outdoor/stadium/part1.obj Normal file
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8350
data/roboschool/models_outdoor/stadium/part2.obj Normal file
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16
data/roboschool/models_outdoor/stadium/stadium.mtl Normal file
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@@ -0,0 +1,16 @@
newmtl stadium_white
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 1.000000 1.000000 1.000000
Ks 0.500000 0.500000 0.500000
newmtl stadium_grass
Ka 0.000000 0.000000 0.000000
Kd 0.000000 0.500000 0.000000
Ks 0.000000 0.000000 0.000000
map_Kd stadium_grass.jpg
newmtl stadium_dirt
Ka 0.000000 0.000000 0.000000
Kd 0.600000 0.400000 0.000000
Ks 0.000000 0.000000 0.000000

30561
data/roboschool/models_outdoor/stadium/stadium.obj Normal file
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BIN
data/roboschool/models_outdoor/stadium/stadium_grass.jpg Normal file
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After

Width:  |  Height:  |  Size: 1.0 MiB

1
data/sphere2.urdf
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@@ -18,6 +18,7 @@
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
<specular rgb="11 1 1"/>
</material>
</visual>
<collision>

108
data/stadium.sdf Normal file
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@@ -0,0 +1,108 @@
<sdf version='1.6'>
<world name='default'>
<gravity>0 0 -9.8</gravity>
<model name='roboschool/models_outdoor/stadium/part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1.00000 1.00000 1.000000 1</diffuse>
<specular>0.1 .1 .1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='roboschool/models_outdoor/stadium/part1.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d1'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision_1'>
<pose frame=''>0 0 -0.5 0 0 0</pose>
<geometry>
<box>
<size>100 100 1</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>0.600000 0.400000 0.000000 1</diffuse>
<specular>.5 .5 .5 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.000000 0.500000 0.000000 1</diffuse>
<specular>0.4 0.4 0.4 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
</world>
</sdf>

27
data/two_cubes.sdf
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@@ -20,7 +20,7 @@
<collision name='collision'>
<geometry>
<plane>
<normal>1 2 3</normal>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
@@ -46,7 +46,7 @@
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>4 5 6</normal>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
@@ -102,6 +102,8 @@
</inertial>
<collision name='collision'>
<geometry>
<pose frame=''>0 0 -1 0 0 0</pose>
<box>
<size>1 1 1</size>
</box>
@@ -154,26 +156,7 @@
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>

2
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -39,6 +39,8 @@ struct GUIHelperInterface
virtual void removeAllGraphicsInstances()=0;
virtual void removeGraphicsInstance(int graphicsUid) {}
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
virtual Common2dCanvasInterface* get2dCanvasInterface()=0;

3
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -79,6 +79,9 @@ struct CommonRenderInterface
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex)=0;
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex)=0;
virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex)=0;
virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex)=0;
virtual int getTotalNumInstances() const = 0;

8
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -325,7 +325,13 @@ void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4]
m_data->m_glApp->m_renderer->writeSingleInstanceColorToCPU(rgbaColor,instanceUid);
};
}
void OpenGLGuiHelper::changeSpecularColor(int instanceUid, const double specularColor[3])
{
if (instanceUid>=0)
{
m_data->m_glApp->m_renderer->writeSingleInstanceSpecularColorToCPU(specularColor,instanceUid);
};
}
int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
{
int texWidth=1024;

1
examples/ExampleBrowser/OpenGLGuiHelper.h
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@@ -27,6 +27,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void removeAllGraphicsInstances();
virtual void removeGraphicsInstance(int graphicsUid);
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);

2
examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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@@ -706,7 +706,7 @@ struct BulletMJCFImporterInternalData
if (!rgba.empty())
{
// "0 0.7 0.7 1"
parseVector4(geom.m_localMaterial.m_rgbaColor, rgba);
parseVector4(geom.m_localMaterial.m_matColor.m_rgbaColor, rgba);
geom.m_hasLocalMaterial = true;
geom.m_localMaterial.m_name = rgba;
}

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;

8
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;

2
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
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@@ -41,9 +41,11 @@ 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);

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()
{
}
};

54
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -492,6 +492,60 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int
m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
}
void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* specular, int bodyUniqueId)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
b3Assert(pg);
int srcIndex = pg->m_internalInstanceIndex;
int totalNumInstances = 0;
int gfxObjIndex = -1;
for (int i=0;i<m_graphicsInstances.size();i++)
{
totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
if (srcIndex<totalNumInstances)
{
gfxObjIndex = i;
break;
}
}
if (gfxObjIndex>0)
{
m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[0] = specular[0];
m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[1] = specular[1];
m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[2] = specular[2];
}
}
void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* specular, int bodyUniqueId)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
b3Assert(pg);
int srcIndex = pg->m_internalInstanceIndex;
int totalNumInstances = 0;
int gfxObjIndex = -1;
for (int i=0;i<m_graphicsInstances.size();i++)
{
totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
if (srcIndex<totalNumInstances)
{
gfxObjIndex = i;
break;
}
}
if (gfxObjIndex>0)
{
m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[0] = specular[0];
m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[1] = specular[1];
m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[2] = specular[2];
}
}
void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, int bodyUniqueId)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);

4
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -95,6 +95,7 @@ public:
}
virtual void readSingleInstanceTransformFromCPU(int srcIndex, float* position, float* orientation);
virtual void writeSingleInstanceTransformToGPU(float* position, float* orientation, int srcIndex);
@@ -102,6 +103,9 @@ public:
virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex);
virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);

3
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
View File

@@ -39,6 +39,9 @@ public:
virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex){}
virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex){}
virtual void getCameraViewMatrix(float viewMat[16]) const;
virtual void getCameraProjectionMatrix(float projMat[16]) const;
virtual void drawTexturedTriangleMesh(float worldPosition[3], float worldOrientation[4], const float* vertices, int numvertices, const unsigned int* indices, int numIndices, float color[4], int textureIndex=-1, int vertexLayout=0)

15
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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);

48
examples/Utils/b3ResourcePath.cpp
View File

@@ -53,11 +53,31 @@ int b3ResourcePath::getExePath(char* path, int maxPathLenInBytes)
return numBytes;
}
int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePath, int resourcePathMaxNumBytes)
struct TempResourcePath
{
char* m_path;
TempResourcePath(int len)
{
m_path = (char*)malloc(len);
memset(m_path,0,len);
}
virtual ~TempResourcePath()
{
free(m_path);
}
};
int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePathOut, int resourcePathMaxNumBytes)
{
//first find in a resource/<exeName> location, then in various folders within 'data' using b3FileUtils
char exePath[B3_MAX_EXE_PATH_LEN];
bool res = b3FileUtils::findFile(resourceName, resourcePathOut, resourcePathMaxNumBytes);
if (res)
{
return strlen(resourcePathOut);
}
int l = b3ResourcePath::getExePath(exePath, B3_MAX_EXE_PATH_LEN);
if (l)
{
@@ -66,33 +86,31 @@ int b3ResourcePath::findResourcePath(const char* resourceName, char* resourcePat
int exeNamePos = b3FileUtils::extractPath(exePath,pathToExe,B3_MAX_EXE_PATH_LEN);
if (exeNamePos)
{
sprintf(resourcePath,"%s../data/%s",pathToExe,resourceName);
TempResourcePath tmpPath(resourcePathMaxNumBytes+1024);
char* resourcePathIn = tmpPath.m_path;
sprintf(resourcePathIn,"%s../data/%s",pathToExe,resourceName);
//printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
{
return strlen(resourcePath);
return strlen(resourcePathOut);
}
sprintf(resourcePath,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName);
sprintf(resourcePathIn,"%s../resources/%s/%s",pathToExe,&exePath[exeNamePos],resourceName);
//printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
{
return strlen(resourcePath);
return strlen(resourcePathOut);
}
sprintf(resourcePath,"%s.runfiles/google3/third_party/bullet/data/%s",exePath,resourceName);
sprintf(resourcePathIn,"%s.runfiles/google3/third_party/bullet/data/%s",exePath,resourceName);
//printf("try resource at %s\n", resourcePath);
if (b3FileUtils::findFile(resourcePath, resourcePath, resourcePathMaxNumBytes))
if (b3FileUtils::findFile(resourcePathIn, resourcePathOut, resourcePathMaxNumBytes))
{
return strlen(resourcePath);
return strlen(resourcePathOut);
}
}
}
bool res = b3FileUtils::findFile(resourceName, resourcePath, resourcePathMaxNumBytes);
if (res)
{
return strlen(resourcePath);
}
return 0;
}

15
examples/pybullet/pybullet.c
View File

@@ -4244,10 +4244,13 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
int statusType;
int physicsClientId = 0;
PyObject* rgbaColorObj = 0;
PyObject* specularColorObj = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &physicsClientId))
static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "specularColor", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &specularColorObj, &physicsClientId))
{
return NULL;
}
@@ -4261,6 +4264,14 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
{
commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
if (specularColorObj)
{
double specularColor[3] = {1,1,1};
pybullet_internalSetVectord(specularColorObj, specularColor);
b3UpdateVisualShapeSpecularColor(commandHandle,specularColor);
}
if (rgbaColorObj)
{
double rgbaColor[4] = {1,1,1,1};