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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
erwincoumans
2017-03-04 15:31:02 -08:00
parent c7579d7b82 2c081c767c
commit a7ad6c2860
6 changed files with 50 additions and 50 deletions
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42
Extras/ConvexDecomposition/ConvexBuilder.cpp
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@@ -12,9 +12,9 @@ unsigned int MAXDEPTH = 8 ;
float CONCAVE_PERCENT = 1.0f ; float CONCAVE_PERCENT = 1.0f ;
float MERGE_PERCENT = 2.0f ; float MERGE_PERCENT = 2.0f ;
CHull::CHull(const ConvexResult &result) CHull::CHull(const ConvexDecomposition::ConvexResult &result)
{ {
mResult = new ConvexResult(result); mResult = new ConvexDecomposition::ConvexResult(result);
mVolume = computeMeshVolume( result.mHullVertices, result.mHullTcount, result.mHullIndices ); mVolume = computeMeshVolume( result.mHullVertices, result.mHullTcount, result.mHullIndices );
mDiagonal = getBoundingRegion( result.mHullVcount, result.mHullVertices, sizeof(float)*3, mMin, mMax ); mDiagonal = getBoundingRegion( result.mHullVcount, result.mHullVertices, sizeof(float)*3, mMin, mMax );
@@ -81,7 +81,7 @@ bool ConvexBuilder::isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
return dcount == 3; return dcount == 3;
} }
void ConvexBuilder::getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices) void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr,VertexLookup vc,UintVector &indices)
{ {
unsigned int *src = cr.mHullIndices; unsigned int *src = cr.mHullIndices;
@@ -154,19 +154,19 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
return 0; return 0;
} }
HullResult hresult; ConvexDecomposition::HullResult hresult;
HullLibrary hl; ConvexDecomposition::HullLibrary hl;
HullDesc desc; ConvexDecomposition::HullDesc desc;
desc.SetHullFlag(QF_TRIANGLES); desc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
desc.mVcount = vcount; desc.mVcount = vcount;
desc.mVertices = vertices; desc.mVertices = vertices;
desc.mVertexStride = sizeof(float)*3; desc.mVertexStride = sizeof(float)*3;
HullError hret = hl.CreateConvexHull(desc,hresult); ConvexDecomposition::HullError hret = hl.CreateConvexHull(desc,hresult);
if ( hret == QE_OK ) if ( hret == ConvexDecomposition::QE_OK )
{ {
float combineVolume = computeMeshVolume( hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices ); float combineVolume = computeMeshVolume( hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices );
@@ -175,7 +175,7 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
float percent = (sumVolume*100) / combineVolume; float percent = (sumVolume*100) / combineVolume;
if ( percent >= (100.0f-MERGE_PERCENT) ) if ( percent >= (100.0f-MERGE_PERCENT) )
{ {
ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices); ConvexDecomposition::ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
ret = new CHull(cr); ret = new CHull(cr);
} }
} }
@@ -259,7 +259,7 @@ bool ConvexBuilder::combineHulls(void)
return combine; return combine;
} }
unsigned int ConvexBuilder::process(const DecompDesc &desc) unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
{ {
unsigned int ret = 0; unsigned int ret = 0;
@@ -282,13 +282,13 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
// before we hand it back to the application, we need to regenerate the hull based on the // before we hand it back to the application, we need to regenerate the hull based on the
// limits given by the user. // limits given by the user.
const ConvexResult &c = *cr->mResult; // the high resolution hull... const ConvexDecomposition::ConvexResult &c = *cr->mResult; // the high resolution hull...
HullResult result; ConvexDecomposition::HullResult result;
HullLibrary hl; ConvexDecomposition::HullLibrary hl;
HullDesc hdesc; ConvexDecomposition::HullDesc hdesc;
hdesc.SetHullFlag(QF_TRIANGLES); hdesc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
hdesc.mVcount = c.mHullVcount; hdesc.mVcount = c.mHullVcount;
hdesc.mVertices = c.mHullVertices; hdesc.mVertices = c.mHullVertices;
@@ -298,14 +298,14 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
if ( desc.mSkinWidth ) if ( desc.mSkinWidth )
{ {
hdesc.mSkinWidth = desc.mSkinWidth; hdesc.mSkinWidth = desc.mSkinWidth;
hdesc.SetHullFlag(QF_SKIN_WIDTH); // do skin width computation. hdesc.SetHullFlag(ConvexDecomposition::QF_SKIN_WIDTH); // do skin width computation.
} }
HullError ret = hl.CreateConvexHull(hdesc,result); ConvexDecomposition::HullError ret = hl.CreateConvexHull(hdesc,result);
if ( ret == QE_OK ) if ( ret == ConvexDecomposition::QE_OK )
{ {
ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices); ConvexDecomposition::ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
r.mHullVolume = computeMeshVolume( result.mOutputVertices, result.mNumFaces, result.mIndices ); // the volume of the hull. r.mHullVolume = computeMeshVolume( result.mOutputVertices, result.mNumFaces, result.mIndices ); // the volume of the hull.
@@ -358,7 +358,7 @@ void ConvexBuilder::ConvexDebugBound(const float *bmin,const float *bmax,unsigne
mCallback->ConvexDebugBound(bmin,bmax,color); mCallback->ConvexDebugBound(bmin,bmax,color);
} }
void ConvexBuilder::ConvexDecompResult(ConvexResult &result) void ConvexBuilder::ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{ {
CHull *ch = new CHull(result); CHull *ch = new CHull(result);
mChulls.push_back(ch); mChulls.push_back(ch);

16
Extras/ConvexDecomposition/ConvexBuilder.h
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@@ -40,13 +40,11 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "vlookup.h" #include "vlookup.h"
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
using namespace ConvexDecomposition;
class CHull class CHull
{ {
public: public:
CHull(const ConvexResult &result); CHull(const ConvexDecomposition::ConvexResult &result);
~CHull(void); ~CHull(void);
@@ -56,7 +54,7 @@ public:
float mMax[3]; float mMax[3];
float mVolume; float mVolume;
float mDiagonal; // long edge.. float mDiagonal; // long edge..
ConvexResult *mResult; ConvexDecomposition::ConvexResult *mResult;
}; };
// Usage: std::sort( list.begin(), list.end(), StringSortRef() ); // Usage: std::sort( list.begin(), list.end(), StringSortRef() );
@@ -75,23 +73,23 @@ typedef btAlignedObjectArray< CHull * > CHullVector;
class ConvexBuilder : public ConvexDecompInterface class ConvexBuilder : public ConvexDecomposition::ConvexDecompInterface
{ {
public: public:
ConvexBuilder(ConvexDecompInterface *callback); ConvexBuilder(ConvexDecomposition::ConvexDecompInterface *callback);
virtual ~ConvexBuilder(void); virtual ~ConvexBuilder(void);
bool isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3, bool isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
unsigned int ci1,unsigned int ci2,unsigned int ci3); unsigned int ci1,unsigned int ci2,unsigned int ci3);
void getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices); void getMesh(const ConvexDecomposition::ConvexResult &cr,VertexLookup vc,UintVector &indices);
CHull * canMerge(CHull *a,CHull *b); CHull * canMerge(CHull *a,CHull *b);
bool combineHulls(void); bool combineHulls(void);
unsigned int process(const DecompDesc &desc); unsigned int process(const ConvexDecomposition::DecompDesc &desc);
virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color); virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color);
@@ -100,7 +98,7 @@ public:
virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color); virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color);
virtual void ConvexDecompResult(ConvexResult &result); virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result);
void sortChulls(CHullVector &hulls); void sortChulls(CHullVector &hulls);

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -578,6 +578,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
m_loggingType = STATE_LOGGING_GENERIC_ROBOT; m_loggingType = STATE_LOGGING_GENERIC_ROBOT;
btAlignedObjectArray<std::string> structNames; btAlignedObjectArray<std::string> structNames;
structNames.push_back("stepCount");
structNames.push_back("timeStamp"); structNames.push_back("timeStamp");
structNames.push_back("objectId"); structNames.push_back("objectId");
structNames.push_back("posX"); structNames.push_back("posX");
@@ -619,7 +620,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
structNames.push_back("u10"); structNames.push_back("u10");
structNames.push_back("u11"); structNames.push_back("u11");
m_structTypes = "fIfffffffffffffIffffffffffffffffffffffff"; m_structTypes = "IfIfffffffffffffIffffffffffffffffffffffff";
const char* fileNameC = fileName.c_str(); const char* fileNameC = fileName.c_str();
m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes); m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
@@ -647,7 +648,10 @@ struct GenericRobotStateLogger : public InternalStateLogger
} }
MinitaurLogRecord logData; MinitaurLogRecord logData;
logData.m_values.push_back(m_loggingTimeStamp); int stepCount = m_loggingTimeStamp;
float timeStamp = m_loggingTimeStamp*m_dynamicsWorld->getSolverInfo().m_timeStep;
logData.m_values.push_back(stepCount);
logData.m_values.push_back(timeStamp);
btVector3 pos = mb->getBasePos(); btVector3 pos = mb->getBasePos();
btQuaternion ori = mb->getWorldToBaseRot().inverse(); btQuaternion ori = mb->getWorldToBaseRot().inverse();

8
examples/pybullet/kuka_with_cube_playback.py
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@@ -67,14 +67,14 @@ print('item num:'),
print(itemNum) print(itemNum)
for record in log: for record in log:
Id = record[1] Id = record[2]
pos = [record[2],record[3],record[4]] pos = [record[3],record[4],record[5]]
orn = [record[5],record[6],record[7],record[8]] orn = [record[6],record[7],record[8],record[9]]
p.resetBasePositionAndOrientation(Id,pos,orn) p.resetBasePositionAndOrientation(Id,pos,orn)
numJoints = p.getNumJoints(Id) numJoints = p.getNumJoints(Id)
for i in range (numJoints): for i in range (numJoints):
jointInfo = p.getJointInfo(Id,i) jointInfo = p.getJointInfo(Id,i)
qIndex = jointInfo[3] qIndex = jointInfo[3]
if qIndex > -1: if qIndex > -1:
p.resetJointState(Id,i,record[qIndex-7+16]) p.resetJointState(Id,i,record[qIndex-7+17])
sleep(0.0005) sleep(0.0005)

13
examples/pybullet/pybullet.c
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@@ -3840,10 +3840,10 @@ static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, Py
/// Render an image from the current timestep of the simulation, width, height are required, other args are optional /// Render an image from the current timestep of the simulation, width, height are required, other args are optional
// getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff) // getCameraImage(w, h, view[16], projection[16], lightDir[3], lightColor[3], lightDist, hasShadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff, renderer)
static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds) static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObject *keywds)
{ {
/// request an image from a simulated camera, using a software renderer. /// request an image from a simulated camera, using software or hardware renderer.
struct b3CameraImageData imageData; struct b3CameraImageData imageData;
PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0; PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
int width, height; int width, height;
@@ -3856,14 +3856,15 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float lightAmbientCoeff = 0.6; float lightAmbientCoeff = 0.6;
float lightDiffuseCoeff = 0.35; float lightDiffuseCoeff = 0.35;
float lightSpecularCoeff = 0.05; float lightSpecularCoeff = 0.05;
int renderer = 0;
// inialize cmd // inialize cmd
b3SharedMemoryCommandHandle command; b3SharedMemoryCommandHandle command;
int physicsClientId = 0; int physicsClientId = 0;
b3PhysicsClientHandle sm = 0; b3PhysicsClientHandle sm = 0;
// set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow // set camera resolution, optionally view, projection matrix, light direction, light color, light distance, shadow
static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "physicsClientId", NULL }; static char *kwlist[] = { "width", "height", "viewMatrix", "projectionMatrix", "lightDirection", "lightColor", "lightDistance", "shadow", "lightAmbientCoeff", "lightDiffuseCoeff", "lightSpecularCoeff", "renderer", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffi", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff,&physicsClientId)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|OOOOfifffii", kwlist, &width, &height, &objViewMat, &objProjMat, &lightDirObj, &lightColorObj, &lightDist, &hasShadow, &lightAmbientCoeff, &lightDiffuseCoeff, &lightSpecularCoeff, &renderer, &physicsClientId))
{ {
return NULL; return NULL;
} }
@@ -3900,6 +3901,8 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff); b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff);
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff); b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff); b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
b3RequestCameraImageSelectRenderer(command, renderer);
if (b3CanSubmitCommand(sm)) if (b3CanSubmitCommand(sm))
{ {
@@ -5110,7 +5113,7 @@ static PyMethodDef SpamMethods[] = {
{ "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS, { "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS,
"Render an image (given the pixel resolution width, height, camera viewMatrix " "Render an image (given the pixel resolution width, height, camera viewMatrix "
", projectionMatrix, lightDirection, lightColor, lightDistance, shadow, lightAmbientCoeff, lightDiffuseCoeff, and lightSpecularCoeff), and return the " ", projectionMatrix, lightDirection, lightColor, lightDistance, shadow, lightAmbientCoeff, lightDiffuseCoeff, lightSpecularCoeff, and renderer), and return the "
"8-8-8bit RGB pixel data and floating point depth values" "8-8-8bit RGB pixel data and floating point depth values"
#ifdef PYBULLET_USE_NUMPY #ifdef PYBULLET_USE_NUMPY
" as NumPy arrays" " as NumPy arrays"

13
src/Bullet3Common/b3CommandLineArgs.h
View File

@@ -25,8 +25,6 @@ public:
void addArgs(int argc, char**argv) void addArgs(int argc, char**argv)
{ {
using namespace std;
for (int i = 1; i < argc; i++) for (int i = 1; i < argc; i++)
{ {
std::string arg = argv[i]; std::string arg = argv[i];
@@ -55,8 +53,7 @@ public:
bool CheckCmdLineFlag(const char* arg_name) bool CheckCmdLineFlag(const char* arg_name)
{ {
using namespace std; std::map<std::string, std::string>::iterator itr;
map<std::string, std::string>::iterator itr;
if ((itr = pairs.find(arg_name)) != pairs.end()) { if ((itr = pairs.find(arg_name)) != pairs.end()) {
return true; return true;
} }
@@ -75,10 +72,9 @@ public:
template <typename T> template <typename T>
inline bool b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val) inline bool b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val)
{ {
using namespace std; std::map<std::string, std::string>::iterator itr;
map<std::string, std::string>::iterator itr;
if ((itr = pairs.find(arg_name)) != pairs.end()) { if ((itr = pairs.find(arg_name)) != pairs.end()) {
istringstream strstream(itr->second); std::istringstream strstream(itr->second);
strstream >> val; strstream >> val;
return true; return true;
} }
@@ -88,8 +84,7 @@ inline bool b3CommandLineArgs::GetCmdLineArgument(const char *arg_name, T &val)
template <> template <>
inline bool b3CommandLineArgs::GetCmdLineArgument<char*>(const char* arg_name, char* &val) inline bool b3CommandLineArgs::GetCmdLineArgument<char*>(const char* arg_name, char* &val)
{ {
using namespace std; std::map<std::string, std::string>::iterator itr;
map<std::string, std::string>::iterator itr;
if ((itr = pairs.find(arg_name)) != pairs.end()) { if ((itr = pairs.find(arg_name)) != pairs.end()) {
std::string s = itr->second; std::string s = itr->second;