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Merge pull request #998 from erwincoumans/master

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optimize hand (hand.py, vrhand.py) MPL.xml STL meshes for better collision detection performance
This commit is contained in:
erwincoumans
2017-03-07 19:43:28 -08:00
committed by GitHub
parent 18fb738f80 af295b6eed
commit 9120c176df
28 changed files with 101 additions and 49 deletions
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46
data/MPL/MPL.xml
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@@ -49,30 +49,30 @@
</visual>
<asset>
<mesh name="index0" file="index0.stl"/>
<mesh name="index1" file="index1.stl"/>
<mesh name="index2" file="index2.stl"/>
<mesh name="index3" file="index3.stl"/>
<mesh name="middle0" file="middle0.stl"/>
<mesh name="middle1" file="middle1.stl"/>
<mesh name="middle2" file="middle2.stl"/>
<mesh name="middle3" file="middle3.stl"/>
<mesh name="index0" file="index0_collision.stl"/>
<mesh name="index1" file="index1_collision.stl"/>
<mesh name="index2" file="index2_collision.stl"/>
<mesh name="index3" file="index3_collision.stl"/>
<mesh name="middle0" file="middle0_collision.stl"/>
<mesh name="middle1" file="middle1_collision.stl"/>
<mesh name="middle2" file="middle2_collision.stl"/>
<mesh name="middle3" file="middle3_collision.stl"/>
<mesh name="palm" file="palm.stl"/>
<mesh name="pinky0" file="pinky0.stl"/>
<mesh name="pinky1" file="pinky1.stl"/>
<mesh name="pinky2" file="pinky2.stl"/>
<mesh name="pinky3" file="pinky3.stl"/>
<mesh name="ring0" file="ring0.stl"/>
<mesh name="ring1" file="ring1.stl"/>
<mesh name="ring2" file="ring2.stl"/>
<mesh name="ring3" file="ring3.stl"/>
<mesh name="thumb0" file="thumb0.stl"/>
<mesh name="thumb1" file="thumb1.stl"/>
<mesh name="thumb2" file="thumb2.stl"/>
<mesh name="thumb3" file="thumb3.stl"/>
<mesh name="wristx" file="wristx.stl"/>
<mesh name="wristy" file="wristy.stl"/>
<mesh name="wristz" file="wristz.stl"/>
<mesh name="pinky0" file="pinky0_collision.stl"/>
<mesh name="pinky1" file="pinky1_collision.stl"/>
<mesh name="pinky2" file="pinky2_collision.stl"/>
<mesh name="pinky3" file="pinky3_collision.stl"/>
<mesh name="ring0" file="ring0_collision.stl"/>
<mesh name="ring1" file="ring1_collision.stl"/>
<mesh name="ring2" file="ring2_collision.stl"/>
<mesh name="ring3" file="ring3_collision.stl"/>
<mesh name="thumb0" file="thumb0_collision.stl"/>
<mesh name="thumb1" file="thumb1_collision.stl"/>
<mesh name="thumb2" file="thumb2_collision.stl"/>
<mesh name="thumb3" file="thumb3_collision.stl"/>
<mesh name="wristx" file="wristx_collision.stl"/>
<mesh name="wristy" file="wristy_collision.stl"/>
<mesh name="wristz" file="wristz_collision.stl"/>
<texture type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
width="100" height="100"/>

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48
data/MPL/mpl2.xml
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@@ -49,30 +49,30 @@
</visual>
<asset>
<mesh name="index0" file="index0.stl"/>
<mesh name="index1" file="index1.stl"/>
<mesh name="index2" file="index2.stl"/>
<mesh name="index3" file="index3.stl"/>
<mesh name="middle0" file="middle0.stl"/>
<mesh name="middle1" file="middle1.stl"/>
<mesh name="middle2" file="middle2.stl"/>
<mesh name="middle3" file="middle3.stl"/>
<mesh name="palm" file="palm.stl"/>
<mesh name="pinky0" file="pinky0.stl"/>
<mesh name="pinky1" file="pinky1.stl"/>
<mesh name="pinky2" file="pinky2.stl"/>
<mesh name="pinky3" file="pinky3.stl"/>
<mesh name="ring0" file="ring0.stl"/>
<mesh name="ring1" file="ring1.stl"/>
<mesh name="ring2" file="ring2.stl"/>
<mesh name="ring3" file="ring3.stl"/>
<mesh name="thumb0" file="thumb0.stl"/>
<mesh name="thumb1" file="thumb1.stl"/>
<mesh name="thumb2" file="thumb2.stl"/>
<mesh name="thumb3" file="thumb3.stl"/>
<mesh name="wristx" file="wristx.stl"/>
<mesh name="wristy" file="wristy.stl"/>
<mesh name="wristz" file="wristz.stl"/>
<mesh name="index0" file="index0_collision.stl"/>
<mesh name="index1" file="index1_collision.stl"/>
<mesh name="index2" file="index2_collision.stl"/>
<mesh name="index3" file="index3_collision.stl"/>
<mesh name="middle0" file="middle0_collision.stl"/>
<mesh name="middle1" file="middle1_collision.stl"/>
<mesh name="middle2" file="middle2_collision.stl"/>
<mesh name="middle3" file="middle3_collision.stl"/>
<mesh name="palm" file="palm_collision.stl"/>
<mesh name="pinky0" file="pinky0_collision.stl"/>
<mesh name="pinky1" file="pinky1_collision.stl"/>
<mesh name="pinky2" file="pinky2_collision.stl"/>
<mesh name="pinky3" file="pinky3_collision.stl"/>
<mesh name="ring0" file="ring0_collision.stl"/>
<mesh name="ring1" file="ring1_collision.stl"/>
<mesh name="ring2" file="ring2_collision.stl"/>
<mesh name="ring3" file="ring3_collision.stl"/>
<mesh name="thumb0" file="thumb0_collision.stl"/>
<mesh name="thumb1" file="thumb1_collision.stl"/>
<mesh name="thumb2" file="thumb2_collision.stl"/>
<mesh name="thumb3" file="thumb3_collision.stl"/>
<mesh name="wristx" file="wristx_collision.stl"/>
<mesh name="wristy" file="wristy_collision.stl"/>
<mesh name="wristz" file="wristz_collision.stl"/>
<texture type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
width="100" height="100"/>

7
examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
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@@ -98,8 +98,11 @@ static GLInstanceGraphicsShape* LoadMeshFromSTL(const char* relativeFileName)
}
fclose(file);
}
shape->m_numIndices = shape->m_indices->size();
shape->m_numvertices = shape->m_vertices->size();
if (shape)
{
shape->m_numIndices = shape->m_indices->size();
shape->m_numvertices = shape->m_vertices->size();
}
return shape;
}

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examples/pybullet/vrminitaur.py Normal file
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@@ -0,0 +1,49 @@
#script to track a robot with a VR controller attached to it.
import time
import pybullet as p
#first try to connect to shared memory (VR), if it fails use local GUI
c = p.connect(p.SHARED_MEMORY)
if (c<0):
c = p.connect(p.GUI)
p.resetSimulation()
p.setGravity(0,0,0)
print(c)
if (c<0):
p.connect(p.GUI)
#load the MuJoCo MJCF hand
minitaur = p.loadURDF("quadruped/minitaur.urdf")
robot_cid = -1
POSITION=1
ORIENTATION=2
BUTTONS=6
p.setRealTimeSimulation(1)
controllerId = -1
while True:
events = p.getVREvents()
for e in (events):
#print (e[BUTTONS])
if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED ):
if (controllerId >= 0):
controllerId = -1
else:
controllerId = e[0]
if (e[0] == controllerId):
if (robot_cid>=0):
p.changeConstraint(robot_cid,e[POSITION],e[ORIENTATION], maxForce=5000)
if (e[BUTTONS][32]&p.VR_BUTTON_WAS_TRIGGERED ):
if (robot_cid>=0):
p.removeConstraint(robot_cid)
#q = [0,0,0,1]
euler = p.getEulerFromQuaternion(e[ORIENTATION])
q = p.getQuaternionFromEuler([euler[0],euler[1],0]) #-euler[0],-euler[1],-euler[2]])
robot_cid = p.createConstraint(minitaur,-1,-1,-1,p.JOINT_FIXED,[0,0,0],[0.1,0,0],e[POSITION],q,e[ORIENTATION])