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PyBullet: allow to update an existing heightfield shape

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Also, use flags = p.GEOM_CONCAVE_INTERNAL_EDGE to enable internal edge filtering for heightfield (disabled by default)
See https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/heightfield.py
This commit is contained in:
Erwin Coumans
2019-08-14 21:06:10 -07:00
parent c7fa8bfc58
commit 88d1788ee5
11 changed files with 201 additions and 44 deletions
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23
examples/pybullet/examples/heightfield.py
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@@ -1,6 +1,6 @@
import pybullet as p
import pybullet_data as pd
import math
import time
p.connect(p.GUI)
@@ -11,6 +11,7 @@ textureId = -1
useProgrammatic = 0
useTerrainFromPNG = 1
useDeepLocoCSV = 2
updateHeightfield = False
heightfieldSource = useProgrammatic
import random
@@ -30,7 +31,7 @@ if heightfieldSource==useProgrammatic:
heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, )
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns)
terrain = p.createMultiBody(0, terrainShape)
p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
@@ -114,7 +115,23 @@ for i in range(p.getNumJoints(sphereUid)):
while (p.isConnected()):
#keys = p.getKeyboardEvents()
keys = p.getKeyboardEvents()
if updateHeightfield and heightfieldSource==useProgrammatic:
for j in range (int(numHeightfieldColumns/2)):
for i in range (int(numHeightfieldRows/2) ):
height = random.uniform(0,heightPerturbationRange)#+math.sin(time.time())
heightfieldData[2*i+2*j*numHeightfieldRows]=height
heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
#GEOM_CONCAVE_INTERNAL_EDGE may help avoid getting stuck at an internal (shared) edge of the triangle/heightfield.
#GEOM_CONCAVE_INTERNAL_EDGE is a bit slower to build though.
#flags = p.GEOM_CONCAVE_INTERNAL_EDGE
flags = 0
terrainShape2 = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, flags = flags, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, replaceHeightfieldIndex = terrainShape)
#print(keys)
#getCameraImage note: software/TinyRenderer doesn't render/support heightfields!
#p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)

17
examples/pybullet/pybullet.c
View File

@@ -1,4 +1,4 @@
//#include "D:/develop/visual_leak_detector/include/vld.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
@@ -7987,7 +7987,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
PyObject* heightfieldDataObj = 0;
int numHeightfieldRows = -1;
int numHeightfieldColumns = -1;
int replaceHeightfieldIndex = -1;
static char* kwlist[] = {"shapeType",
"radius",
"halfExtents",
@@ -8004,9 +8004,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
"heightfieldData",
"numHeightfieldRows",
"numHeightfieldColumns",
"replaceHeightfieldIndex",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdOiii", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &heightfieldDataObj, &numHeightfieldRows, &numHeightfieldColumns, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdOiiii", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &heightfieldDataObj, &numHeightfieldRows, &numHeightfieldColumns, &replaceHeightfieldIndex, &physicsClientId))
{
return NULL;
}
@@ -8083,7 +8084,8 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
pointBuffer[i] = (float)PyFloat_AsDouble(item);
}
}
shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns);
shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns, replaceHeightfieldIndex);
free(pointBuffer);
if (seqPoints)
Py_DECREF(seqPoints);
@@ -8141,7 +8143,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
{
pybullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation);
}
b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition, collisionFrameOrientation);
if (collisionFramePositionObj || collisionFrameOrientationObj)
{
b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition, collisionFrameOrientation);
}
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);