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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
View File

@@ -12,9 +12,9 @@ unsigned int MAXDEPTH = 8 ;
float CONCAVE_PERCENT = 1.0f ;
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 );
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;
}
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;
@@ -154,19 +154,19 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
return 0;
}
HullResult hresult;
HullLibrary hl;
HullDesc desc;
ConvexDecomposition::HullResult hresult;
ConvexDecomposition::HullLibrary hl;
ConvexDecomposition::HullDesc desc;
desc.SetHullFlag(QF_TRIANGLES);
desc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
desc.mVcount = vcount;
desc.mVertices = vertices;
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 );
@@ -175,7 +175,7 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
float percent = (sumVolume*100) / combineVolume;
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);
}
}
@@ -259,7 +259,7 @@ bool ConvexBuilder::combineHulls(void)
return combine;
}
unsigned int ConvexBuilder::process(const DecompDesc &desc)
unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
{
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
// 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;
HullLibrary hl;
HullDesc hdesc;
ConvexDecomposition::HullResult result;
ConvexDecomposition::HullLibrary hl;
ConvexDecomposition::HullDesc hdesc;
hdesc.SetHullFlag(QF_TRIANGLES);
hdesc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
hdesc.mVcount = c.mHullVcount;
hdesc.mVertices = c.mHullVertices;
@@ -298,14 +298,14 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
if ( 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.
@@ -358,7 +358,7 @@ void ConvexBuilder::ConvexDebugBound(const float *bmin,const float *bmax,unsigne
mCallback->ConvexDebugBound(bmin,bmax,color);
}
void ConvexBuilder::ConvexDecompResult(ConvexResult &result)
void ConvexBuilder::ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
{
CHull *ch = new CHull(result);
mChulls.push_back(ch);

16
Extras/ConvexDecomposition/ConvexBuilder.h
View File

@@ -40,13 +40,11 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "vlookup.h"
#include "LinearMath/btAlignedObjectArray.h"
using namespace ConvexDecomposition;
class CHull
{
public:
CHull(const ConvexResult &result);
CHull(const ConvexDecomposition::ConvexResult &result);
~CHull(void);
@@ -56,7 +54,7 @@ public:
float mMax[3];
float mVolume;
float mDiagonal; // long edge..
ConvexResult *mResult;
ConvexDecomposition::ConvexResult *mResult;
};
// 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:
ConvexBuilder(ConvexDecompInterface *callback);
ConvexBuilder(ConvexDecomposition::ConvexDecompInterface *callback);
virtual ~ConvexBuilder(void);
bool isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
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);
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);
@@ -100,7 +98,7 @@ public:
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);

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -578,6 +578,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
m_loggingType = STATE_LOGGING_GENERIC_ROBOT;
btAlignedObjectArray<std::string> structNames;
structNames.push_back("stepCount");
structNames.push_back("timeStamp");
structNames.push_back("objectId");
structNames.push_back("posX");
@@ -619,7 +620,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
structNames.push_back("u10");
structNames.push_back("u11");
m_structTypes = "fIfffffffffffffIffffffffffffffffffffffff";
m_structTypes = "IfIfffffffffffffIffffffffffffffffffffffff";
const char* fileNameC = fileName.c_str();
m_logFileHandle = createMinitaurLogFile(fileNameC, structNames, m_structTypes);
@@ -647,7 +648,10 @@ struct GenericRobotStateLogger : public InternalStateLogger
}
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();
btQuaternion ori = mb->getWorldToBaseRot().inverse();

8
examples/pybullet/kuka_with_cube_playback.py
View File

@@ -67,14 +67,14 @@ print('item num:'),
print(itemNum)
for record in log:
Id = record[1]
pos = [record[2],record[3],record[4]]
orn = [record[5],record[6],record[7],record[8]]
Id = record[2]
pos = [record[3],record[4],record[5]]
orn = [record[6],record[7],record[8],record[9]]
p.resetBasePositionAndOrientation(Id,pos,orn)
numJoints = p.getNumJoints(Id)
for i in range (numJoints):
jointInfo = p.getJointInfo(Id,i)
qIndex = jointInfo[3]
if qIndex > -1:
p.resetJointState(Id,i,record[qIndex-7+16])
p.resetJointState(Id,i,record[qIndex-7+17])
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
// 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)
{
/// 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;
PyObject* objViewMat = 0, *objProjMat = 0, *lightDirObj = 0, *lightColorObj = 0;
int width, height;
@@ -3856,14 +3856,15 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float lightAmbientCoeff = 0.6;
float lightDiffuseCoeff = 0.35;
float lightSpecularCoeff = 0.05;
int renderer = 0;
// inialize cmd
b3SharedMemoryCommandHandle command;
int physicsClientId = 0;
b3PhysicsClientHandle sm = 0;
// 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;
}
@@ -3901,6 +3902,8 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
b3RequestCameraImageSelectRenderer(command, renderer);
if (b3CanSubmitCommand(sm))
{
b3SharedMemoryStatusHandle statusHandle;
@@ -5110,7 +5113,7 @@ static PyMethodDef SpamMethods[] = {
{ "getCameraImage",(PyCFunction)pybullet_getCameraImage, METH_VARARGS| METH_KEYWORDS,
"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"
#ifdef PYBULLET_USE_NUMPY
" as NumPy arrays"

13
src/Bullet3Common/b3CommandLineArgs.h
View File

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