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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2017-05-18 16:51:43 -07:00
parent 9c6f26b1a4 16a8dceb73
commit abeb3aaddf
36 changed files with 644 additions and 156 deletions
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BIN
docs/pybullet_quickstartguide.pdf
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4
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -51,6 +51,10 @@ public:
{
}
virtual ~MyDebugDrawer()
{
}
virtual DefaultColors getDefaultColors() const
{

5
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@@ -7,7 +7,7 @@
#include "../../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3FileUtils.h"
#include "../../ThirdPartyLibs/stb_image/stb_image.h"
#include "../ImportObjDemo/LoadMeshFromObj.h"
bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
{
B3_PROFILE("loadAndRegisterMeshFromFileInternal");
@@ -28,7 +28,8 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
std::vector<tinyobj::shape_t> shapes;
{
B3_PROFILE("tinyobj::LoadObj");
std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, pathPrefix);
//std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
}
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);

49
examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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@@ -1,11 +1,56 @@
#include "LoadMeshFromObj.h"
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
#include <stdio.h> //fopen
#include "Bullet3Common/b3AlignedObjectArray.h"
#include <string>
#include <vector>
#include "Wavefront2GLInstanceGraphicsShape.h"
#include "Bullet3Common/b3HashMap.h"
struct CachedObjResult
{
std::string m_msg;
std::vector<tinyobj::shape_t> m_shapes;
};
static b3HashMap<b3HashString, CachedObjResult> gCachedObjResults;
static int gEnableFileCaching = 1;
void b3EnableFileCaching(int enable)
{
gEnableFileCaching = enable;
if (enable==0)
{
gCachedObjResults.clear();
}
}
std::string LoadFromCachedOrFromObj(
std::vector<tinyobj::shape_t>& shapes, // [output]
const char* filename,
const char* mtl_basepath)
{
CachedObjResult* resultPtr = gCachedObjResults[filename];
if (resultPtr)
{
const CachedObjResult& result = *resultPtr;
shapes = result.m_shapes;
return result.m_msg;
}
std::string err = tinyobj::LoadObj(shapes, filename, mtl_basepath);
CachedObjResult result;
result.m_msg = err;
result.m_shapes = shapes;
if (gEnableFileCaching)
{
gCachedObjResults.insert(filename,result);
}
return err;
}
GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath)
{
@@ -13,7 +58,7 @@ GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const cha
std::vector<tinyobj::shape_t> shapes;
{
B3_PROFILE("tinyobj::LoadObj2");
std::string err = tinyobj::LoadObj(shapes, relativeFileName, materialPrefixPath);
std::string err = LoadFromCachedOrFromObj(shapes, relativeFileName, materialPrefixPath);
}
{

8
examples/Importers/ImportObjDemo/LoadMeshFromObj.h
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@@ -4,6 +4,14 @@
struct GLInstanceGraphicsShape;
#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
void b3EnableFileCaching(int enable);
std::string LoadFromCachedOrFromObj(
std::vector<tinyobj::shape_t>& shapes, // [output]
const char* filename,
const char* mtl_basepath);
GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath);

11
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -634,8 +634,15 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
case UrdfGeometry::FILE_OBJ:
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), 0);
char relativeFileName[1024];
char pathPrefix[1024];
pathPrefix[0] = 0;
if (b3ResourcePath::findResourcePath(collision->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), pathPrefix);
}
else
{

11
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -87,7 +87,16 @@ struct UrdfGeometry
UrdfGeometry()
:m_type(URDF_GEOM_UNKNOWN),
m_hasFromTo(false),
m_sphereRadius(1),
m_boxSize(1,1,1),
m_capsuleRadius(1),
m_capsuleHeight(1),
m_hasFromTo(0),
m_capsuleFrom(0,1,0),
m_capsuleTo(1,0,0),
m_planeNormal(0,0,1),
m_meshFileType(0),
m_meshScale(1,1,1),
m_hasLocalMaterial(false)
{
}

19
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -893,17 +893,25 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
gfxObj->m_numVertices = numvertices;
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
int vertexStrideInBytes = 9*sizeof(float);
int sz = numvertices*vertexStrideInBytes;
int totalUsed = vertexStrideInBytes*gfxObj->m_vertexArrayOffset+sz;
b3Assert(totalUsed<m_data->m_maxShapeCapacityInBytes);
if (totalUsed>=m_data->m_maxShapeCapacityInBytes)
{
return -1;
}
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
#if 0
char* dest= (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
#ifdef B3_DEBUG
int totalUsed = vertexStrideInBytes*gfxObj->m_vertexArrayOffset+sz;
b3Assert(totalUsed<m_data->m_maxShapeCapacityInBytes);
#endif//B3_DEBUG
memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
@@ -1613,6 +1621,11 @@ static void b3CreateLookAt(const b3Vector3& eye, const b3Vector3& center,cons
void GLInstancingRenderer::renderSceneInternal(int renderMode)
{
if (!useShadowMap)
{
renderMode = B3_DEFAULT_RENDERMODE;
}
// glEnable(GL_DEPTH_TEST);
GLint dims[4];

2
examples/RoboticsLearning/R2D2GraspExample.cpp
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@@ -92,7 +92,7 @@ public:
m_robotSim.loadSDF("kiva_shelf/model.sdf",results);
}
{
m_robotSim.loadURDF("results");
m_robotSim.loadURDF("plane.urdf");
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));

27
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -381,6 +381,17 @@ int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHan
}
int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_enableFileCaching= enableFileCaching;
command->m_updateFlags |= SIM_PARAM_ENABLE_FILE_CACHING ;
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1785,7 +1796,10 @@ void b3RequestCameraImageSelectRenderer(b3SharedMemoryCommandHandle commandHandl
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
b3Assert(renderer>(1<<15));
command->m_updateFlags |= renderer;
if (renderer>(1<<15))
{
command->m_updateFlags |= renderer;
}
}
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
@@ -2712,6 +2726,8 @@ int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, doub
command->m_vrCameraStateArguments.m_rootOrientation[0] = rootOrn[0];
command->m_vrCameraStateArguments.m_rootOrientation[1] = rootOrn[1];
command->m_vrCameraStateArguments.m_rootOrientation[2] = rootOrn[2];
command->m_vrCameraStateArguments.m_rootOrientation[3] = rootOrn[3];
return 0;
}
@@ -2725,6 +2741,15 @@ int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int o
return 0;
}
int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_SET_VR_CAMERA_STATE);
command->m_updateFlags |= VR_CAMERA_FLAG;
command->m_vrCameraStateArguments.m_trackingObjectFlag = flag;
return 0;
}
b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient)

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -215,6 +215,7 @@ int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle,
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);
int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle commandHandle, double contactBreakingThreshold);
int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching);
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
//Use at own risk: magic things may or my not happen when calling this API
@@ -376,6 +377,7 @@ b3SharedMemoryCommandHandle b3SetVRCameraStateCommandInit(b3PhysicsClientHandle
int b3SetVRCameraRootPosition(b3SharedMemoryCommandHandle commandHandle, double rootPos[3]);
int b3SetVRCameraRootOrientation(b3SharedMemoryCommandHandle commandHandle, double rootOrn[4]);
int b3SetVRCameraTrackingObject(b3SharedMemoryCommandHandle commandHandle, int objectUniqueId);
int b3SetVRCameraTrackingObjectFlag(b3SharedMemoryCommandHandle commandHandle, int flag);
b3SharedMemoryCommandHandle b3RequestKeyboardEventsCommandInit(b3PhysicsClientHandle physClient);
void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3KeyboardEventsData* keyboardEventsData);

3
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -122,7 +122,8 @@ protected:
{
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_physicsServer.renderScene();
int renderFlags = 0;
m_physicsServer.renderScene(renderFlags);
}
b3DebugLines debugLines;

2
examples/SharedMemory/PhysicsClientTCP.cpp
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@@ -226,7 +226,7 @@ bool TcpNetworkedPhysicsProcessor::receiveStatus(struct SharedMemoryStatus& serv
}
void TcpNetworkedPhysicsProcessor::renderScene()
void TcpNetworkedPhysicsProcessor::renderScene(int renderFlags)
{
}

2
examples/SharedMemory/PhysicsClientTCP.h
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@@ -24,7 +24,7 @@ public:
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual void renderScene();
virtual void renderScene(int renderFlags);
virtual void physicsDebugDraw(int debugDrawFlags);

2
examples/SharedMemory/PhysicsClientUDP.cpp
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@@ -540,7 +540,7 @@ bool UdpNetworkedPhysicsProcessor::receiveStatus(struct SharedMemoryStatus& serv
}
void UdpNetworkedPhysicsProcessor::renderScene()
void UdpNetworkedPhysicsProcessor::renderScene(int renderFlags)
{
}

2
examples/SharedMemory/PhysicsClientUDP.h
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@@ -24,7 +24,7 @@ public:
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual void renderScene();
virtual void renderScene(int renderFlags);
virtual void physicsDebugDraw(int debugDrawFlags);

7
examples/SharedMemory/PhysicsCommandProcessorInterface.h
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@@ -1,6 +1,11 @@
#ifndef PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
#define PHYSICS_COMMAND_PROCESSOR_INTERFACE_H
enum PhysicsCOmmandRenderFlags
{
COV_DISABLE_SYNC_RENDERING=1
};
class PhysicsCommandProcessorInterface
{
@@ -17,7 +22,7 @@ public:
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes) = 0;
virtual void renderScene() = 0;
virtual void renderScene(int renderFlags) = 0;
virtual void physicsDebugDraw(int debugDrawFlags) = 0;
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper) = 0;
virtual void setTimeOut(double timeOutInSeconds) = 0;

3
examples/SharedMemory/PhysicsDirect.cpp
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@@ -171,7 +171,8 @@ bool PhysicsDirect::connect(struct GUIHelperInterface* guiHelper)
void PhysicsDirect::renderScene()
{
m_data->m_commandProcessor->renderScene();
int renderFlags = 0;
m_data->m_commandProcessor->renderScene(renderFlags);
}
void PhysicsDirect::debugDraw(int debugDrawMode)

2
examples/SharedMemory/PhysicsServer.h
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@@ -33,7 +33,7 @@ public:
//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
//to a physics client, over shared memory
virtual void physicsDebugDraw(int debugDrawFlags)=0;
virtual void renderScene()=0;
virtual void renderScene(int renderFlags)=0;
virtual void enableCommandLogging(bool enable, const char* fileName)=0;
virtual void replayFromLogFile(const char* fileName)=0;

67
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -22,6 +22,7 @@
#include "../Utils/RobotLoggingUtil.h"
#include "LinearMath/btTransform.h"
#include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "LinearMath/btSerializer.h"
@@ -54,6 +55,8 @@ bool gCreateDefaultRobotAssets = false;
int gInternalSimFlags = 0;
bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
int gVRTrackingObjectFlag = VR_CAMERA_TRACK_OBJECT_ORIENTATION;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = -1;//experiment: add some delay to avoid threads starving other threads
@@ -2181,7 +2184,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
//serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
btMultiBody* mb = bodyHandle->m_multiBody;
btMultiBody* mb = bodyHandle? bodyHandle->m_multiBody:0;
if (mb)
{
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
@@ -2440,6 +2443,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
{
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str());
m_data->m_profileTimingLoggingUid = -1;
}
@@ -2482,6 +2486,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
gVRTrackingObjectUniqueId = clientCmd.m_vrCameraStateArguments.m_trackingObjectUniqueId;
}
if (clientCmd.m_updateFlags & VR_CAMERA_FLAG)
{
gVRTrackingObjectFlag = clientCmd.m_vrCameraStateArguments.m_trackingObjectFlag;
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
@@ -2837,10 +2846,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
int actualNumBodies = 0;
for (int i=0;i<usedHandles.size();i++)
{
InteralBodyData* body = m_data->m_bodyHandles.getHandle(usedHandles[i]);
int usedHandle = usedHandles[i];
InteralBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle);
if (body && (body->m_multiBody || body->m_rigidBody))
{
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = i;
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
}
}
serverStatusOut.m_sdfLoadedArgs.m_numBodies = actualNumBodies;
@@ -4058,6 +4068,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = clientCmd.m_physSimParamArgs.m_defaultContactERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_ENABLE_FILE_CACHING)
{
b3EnableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching);
}
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
@@ -4216,10 +4232,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_RESET_SIMULATION:
{
BT_PROFILE("CMD_RESET_SIMULATION");
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,0);
resetSimulation();
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,1);
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
hasStatus = true;
@@ -5062,6 +5080,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_removeObjectArgs.m_numBodies = 0;
serverCmd.m_removeObjectArgs.m_numUserConstraints = 0;
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,0);
for (int i=0;i<clientCmd.m_removeObjectArgs.m_numBodies;i++)
{
int bodyUniqueId = clientCmd.m_removeObjectArgs.m_bodyUniqueIds[i];
@@ -5142,7 +5162,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
m_data->m_bodyHandles.freeHandle(bodyUniqueId);
}
m_data->m_guiHelper->setVisualizerFlag(COV_ENABLE_SYNC_RENDERING_INTERNAL,1);
hasStatus = true;
break;
@@ -5929,11 +5950,14 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
//static int skip=1;
void PhysicsServerCommandProcessor::renderScene()
void PhysicsServerCommandProcessor::renderScene(int renderFlags)
{
if (m_data->m_guiHelper)
{
m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
if (0==(renderFlags&COV_DISABLE_SYNC_RENDERING))
{
m_data->m_guiHelper->syncPhysicsToGraphics(m_data->m_dynamicsWorld);
}
m_data->m_guiHelper->render(m_data->m_dynamicsWorld);
}
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -6180,6 +6204,24 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
gResetSimulation = false;
}
if (gVRTrackingObjectUniqueId >= 0)
{
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(gVRTrackingObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
// gVRTrackingObjectTr = bodyHandle->m_multiBody->getBaseWorldTransform();
if (gVRTrackingObjectUniqueId>=0)
{
gVRTrackingObjectTr.setOrigin(bodyHandle->m_multiBody->getBaseWorldTransform().getOrigin());
}
if (gVRTrackingObjectFlag&VR_CAMERA_TRACK_OBJECT_ORIENTATION)
{
gVRTrackingObjectTr.setBasis(bodyHandle->m_multiBody->getBaseWorldTransform().getBasis());
}
}
}
if ((m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
{
@@ -6199,14 +6241,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec, const
gSubStep = m_data->m_physicsDeltaTime;
}
if (gVRTrackingObjectUniqueId >= 0)
{
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(gVRTrackingObjectUniqueId);
if (bodyHandle && bodyHandle->m_multiBody)
{
gVRTrackingObjectTr = bodyHandle->m_multiBody->getBaseWorldTransform();
}
}
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec*simTimeScalingFactor,maxSteps, gSubStep);

2
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -78,7 +78,7 @@ public:
return false;
};
virtual void renderScene();
virtual void renderScene(int renderFlags);
virtual void physicsDebugDraw(int debugDrawFlags);
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);

327
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -25,6 +25,11 @@
//@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
extern btVector3 gLastPickPos;
bool gEnablePicking=true;
bool gEnableTeleporting=true;
bool gEnableRendering= true;
bool gEnableSyncPhysicsRendering= true;
bool gEnableUpdateDebugDrawLines = true;
btVector3 gVRTeleportPosLocal(0,0,0);
btQuaternion gVRTeleportOrnLocal(0,0,0,1);
@@ -181,6 +186,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIDumpFramesToVideo,
eGUIHelperRemoveGraphicsInstance,
eGUIHelperChangeGraphicsInstanceRGBAColor,
eGUIHelperSetVisualizerFlag,
};
@@ -232,7 +238,9 @@ struct MyMouseCommand
struct MotionArgs
{
MotionArgs()
:m_physicsServerPtr(0)
:
m_debugDrawFlags(0),
m_physicsServerPtr(0)
{
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
@@ -254,6 +262,7 @@ struct MotionArgs
b3CriticalSection* m_cs3;
b3CriticalSection* m_csGUI;
int m_debugDrawFlags;
btAlignedObjectArray<MyMouseCommand> m_mouseCommands;
@@ -452,6 +461,15 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
{
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds, args->m_sendVrControllerEvents,numSendVrControllers, keyEvents, args->m_sendKeyEvents.size());
}
{
if (gEnableUpdateDebugDrawLines)
{
args->m_csGUI->lock();
args->m_physicsServerPtr->physicsDebugDraw(args->m_debugDrawFlags);
gEnableUpdateDebugDrawLines=false;
args->m_csGUI->unlock();
}
}
deltaTimeInSeconds = 0;
}
@@ -546,6 +564,138 @@ struct UserDebugText
};
struct LineSegment
{
btVector3 m_from;
btVector3 m_to;
};
struct ColorWidth
{
btVector3FloatData m_color;
int width;
int getHash() const
{
unsigned char r = (unsigned char) m_color.m_floats[0]*255;
unsigned char g = (unsigned char) m_color.m_floats[1]*255;
unsigned char b = (unsigned char) m_color.m_floats[2]*255;
unsigned char w = width;
return r+(256*g)+(256*256*b)+(256*256*256*w);
}
bool equals(const ColorWidth& other) const
{
bool same = ((width == other.width) && (m_color.m_floats[0] == other.m_color.m_floats[0]) &&
(m_color.m_floats[1] == other.m_color.m_floats[1]) &&
(m_color.m_floats[2] == other.m_color.m_floats[2]));
return same;
}
};
ATTRIBUTE_ALIGNED16( class )MultithreadedDebugDrawer : public btIDebugDraw
{
class GUIHelperInterface* m_guiHelper;
int m_debugMode;
btAlignedObjectArray< btAlignedObjectArray<unsigned int> > m_sortedIndices;
btAlignedObjectArray< btAlignedObjectArray<btVector3FloatData> > m_sortedLines;
btHashMap<ColorWidth,int> m_hashedLines;
public:
void drawDebugDrawerLines()
{
if (m_hashedLines.size())
{
for (int i=0;i<m_hashedLines.size();i++)
{
ColorWidth cw = m_hashedLines.getKeyAtIndex(i);
int index = *m_hashedLines.getAtIndex(i);
int stride = sizeof(btVector3FloatData);
const float* positions = &m_sortedLines[index][0].m_floats[0];
int numPoints = m_sortedLines[index].size();
const unsigned int* indices = &m_sortedIndices[index][0];
int numIndices = m_sortedIndices[index].size();
m_guiHelper->getRenderInterface()->drawLines(positions,cw.m_color.m_floats,numPoints, stride, indices,numIndices,cw.width);
}
}
}
MultithreadedDebugDrawer(GUIHelperInterface* guiHelper)
:m_guiHelper(guiHelper),
m_debugMode(0)
{
}
virtual ~MultithreadedDebugDrawer()
{
}
virtual void drawLine(const btVector3& from,const btVector3& to,const btVector3& color)
{
{
ColorWidth cw;
color.serializeFloat(cw.m_color);
cw.width = 1;
int index = -1;
int* indexPtr = m_hashedLines.find(cw);
if (indexPtr)
{
index = *indexPtr;
} else
{
index = m_sortedLines.size();
m_sortedLines.expand();
m_sortedIndices.expand();
m_hashedLines.insert(cw,index);
}
btAssert(index>=0);
if (index>=0)
{
btVector3FloatData from1,toX1;
m_sortedIndices[index].push_back(m_sortedLines[index].size());
from.serializeFloat(from1);
m_sortedLines[index].push_back(from1);
m_sortedIndices[index].push_back(m_sortedLines[index].size());
to.serializeFloat(toX1);
m_sortedLines[index].push_back(toX1);
}
}
}
virtual void drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
drawLine(PointOnB,PointOnB+normalOnB*distance,color);
btVector3 ncolor(0, 0, 0);
drawLine(PointOnB, PointOnB + normalOnB*0.01, ncolor);
}
virtual void reportErrorWarning(const char* warningString)
{
}
virtual void draw3dText(const btVector3& location,const char* textString)
{
}
virtual void setDebugMode(int debugMode)
{
m_debugMode = debugMode;
}
virtual int getDebugMode() const
{
return m_debugMode;
}
virtual void clearLines()
{
m_hashedLines.clear();
m_sortedIndices.clear();
m_sortedLines.clear();
}
virtual void flushLines()
{
}
};
class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
{
@@ -555,17 +705,19 @@ class MultiThreadedOpenGLGuiHelper : public GUIHelperInterface
b3CriticalSection* m_cs2;
b3CriticalSection* m_cs3;
b3CriticalSection* m_csGUI;
public:
void setVisualizerFlag(int flag, int enable)
{
m_childGuiHelper->setVisualizerFlag(flag,enable);
}
MultithreadedDebugDrawer* m_debugDraw;
void drawDebugDrawerLines()
{
if (m_debugDraw)
{
m_debugDraw->drawDebugDrawerLines();
}
}
GUIHelperInterface* m_childGuiHelper;
int m_uidGenerator;
@@ -626,6 +778,7 @@ public:
m_cs2(0),
m_cs3(0),
m_csGUI(0),
m_debugDraw(0),
m_uidGenerator(0),
m_texels(0),
m_textureId(-1)
@@ -727,7 +880,18 @@ public:
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld)
{
m_childGuiHelper->createPhysicsDebugDrawer(rbWorld);
btAssert(rbWorld);
if (m_debugDraw)
{
delete m_debugDraw;
m_debugDraw = 0;
}
m_debugDraw = new MultithreadedDebugDrawer(this);
rbWorld->setDebugDrawer(m_debugDraw );
//m_childGuiHelper->createPhysicsDebugDrawer(rbWorld);
}
virtual int registerTexture(const unsigned char* texels, int width, int height)
@@ -759,6 +923,25 @@ public:
return m_shapeIndex;
}
int m_visualizerFlag;
int m_visualizerEnable;
void setVisualizerFlag(int flag, int enable)
{
m_visualizerFlag = flag;
m_visualizerEnable = enable;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperSetVisualizerFlag);
workerThreadWait();
}
void setVisualizerFlagCallback(VisualizerFlagCallback callback)
{
m_childGuiHelper->setVisualizerFlagCallback(callback);
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
m_shapeIndex = shapeIndex;
@@ -998,6 +1181,10 @@ public:
}
const char* m_mp4FileName;
virtual void dumpFramesToVideo(const char* mp4FileName)
{
@@ -1558,6 +1745,38 @@ void PhysicsServerExample::updateGraphics()
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperSetVisualizerFlag:
{
int flag = m_multiThreadedHelper->m_visualizerFlag;
int enable = m_multiThreadedHelper->m_visualizerEnable;
if (flag==COV_ENABLE_VR_TELEPORTING)
{
gEnableTeleporting = enable;
}
if (flag == COV_ENABLE_VR_PICKING)
{
gEnablePicking = enable;
}
if (flag ==COV_ENABLE_SYNC_RENDERING_INTERNAL)
{
gEnableSyncPhysicsRendering = enable;
}
if (flag == COV_ENABLE_RENDERING)
{
gEnableRendering = enable;
}
m_multiThreadedHelper->m_childGuiHelper->setVisualizerFlag(m_multiThreadedHelper->m_visualizerFlag,m_multiThreadedHelper->m_visualizerEnable);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperRegisterGraphicsInstance:
{
m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
@@ -1761,32 +1980,6 @@ extern double gSubStep;
extern int gVRTrackingObjectUniqueId;
extern btTransform gVRTrackingObjectTr;
struct LineSegment
{
btVector3 m_from;
btVector3 m_to;
};
struct ColorWidth
{
btVector3FloatData m_color;
int width;
int getHash() const
{
unsigned char r = (unsigned char) m_color.m_floats[0]*255;
unsigned char g = (unsigned char) m_color.m_floats[1]*255;
unsigned char b = (unsigned char) m_color.m_floats[2]*255;
unsigned char w = width;
return r+(256*g)+(256*256*b)+(256*256*256*w);
}
bool equals(const ColorWidth& other) const
{
bool same = ((width == other.width) && (m_color.m_floats[0] == other.m_color.m_floats[0]) &&
(m_color.m_floats[1] == other.m_color.m_floats[1]) &&
(m_color.m_floats[2] == other.m_color.m_floats[2]));
return same;
}
};
void PhysicsServerExample::drawUserDebugLines()
{
@@ -2013,30 +2206,41 @@ void PhysicsServerExample::renderScene()
m_multiThreadedHelper->m_childGuiHelper->getRenderInterface()->
getActiveCamera()->setVRCameraOffsetTransform(vrOffset);
}
m_physicsServer.renderScene();
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
if (gEnableRendering)
{
if (m_args[0].m_isVrControllerPicking[i] || m_args[0].m_isVrControllerDragging[i])
int renderFlags = 0;
if (!gEnableSyncPhysicsRendering)
{
btVector3 from = m_args[0].m_vrControllerPos[i];
btMatrix3x3 mat(m_args[0].m_vrControllerOrn[i]);
renderFlags|=1;//COV_DISABLE_SYNC_RENDERING;
}
m_physicsServer.renderScene(renderFlags);
}
btVector3 toX = from+mat.getColumn(0);
btVector3 toY = from+mat.getColumn(1);
btVector3 toZ = from+mat.getColumn(2);
if (gEnablePicking)
{
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
{
if (m_args[0].m_isVrControllerPicking[i] || m_args[0].m_isVrControllerDragging[i])
{
btVector3 from = m_args[0].m_vrControllerPos[i];
btMatrix3x3 mat(m_args[0].m_vrControllerOrn[i]);
int width = 2;
btVector3 toX = from+mat.getColumn(0);
btVector3 toY = from+mat.getColumn(1);
btVector3 toZ = from+mat.getColumn(2);
int width = 2;
btVector4 color;
color=btVector4(1,0,0,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
color=btVector4(0,1,0,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
color=btVector4(0,0,1,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
btVector4 color;
color=btVector4(1,0,0,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
color=btVector4(0,1,0,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
color=btVector4(0,0,1,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
}
}
}
@@ -2058,9 +2262,18 @@ void PhysicsServerExample::physicsDebugDraw(int debugDrawFlags)
{
drawUserDebugLines();
///debug rendering
m_physicsServer.physicsDebugDraw(debugDrawFlags);
if (gEnableRendering)
{
///debug rendering
//m_physicsServer.physicsDebugDraw(debugDrawFlags);
m_args[0].m_csGUI->lock();
//draw stuff and flush?
this->m_multiThreadedHelper->m_debugDraw->drawDebugDrawerLines();
m_args[0].m_debugDrawFlags = debugDrawFlags;
gEnableUpdateDebugDrawLines = true;
m_args[0].m_csGUI->unlock();
}
}
@@ -2132,10 +2345,12 @@ btVector3 PhysicsServerExample::getRayTo(int x,int y)
extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
MultiThreadedOpenGLGuiHelper* guiHelperWrapper = new MultiThreadedOpenGLGuiHelper(options.m_guiHelper->getAppInterface(),options.m_guiHelper);
PhysicsServerExample* example = new PhysicsServerExample(guiHelperWrapper,
options.m_sharedMem,
@@ -2250,7 +2465,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
}
if (button==1)
if (button==1 && gEnableTeleporting)
{
m_args[0].m_isVrControllerTeleporting[controllerId] = true;
}
@@ -2262,7 +2477,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
else
{
if (button == 33)
if (button == 33 && gEnablePicking)
{
m_args[0].m_isVrControllerPicking[controllerId] = (state != 0);
m_args[0].m_isVrControllerReleasing[controllerId] = (state == 0);

4
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -274,9 +274,9 @@ void PhysicsServerSharedMemory::processClientCommands()
}
}
void PhysicsServerSharedMemory::renderScene()
void PhysicsServerSharedMemory::renderScene(int renderFlags)
{
m_data->m_commandProcessor->renderScene();
m_data->m_commandProcessor->renderScene(renderFlags);

2
examples/SharedMemory/PhysicsServerSharedMemory.h
View File

@@ -42,7 +42,7 @@ public:
//and for physics visualization. The idea is that physicsDebugDraw can also send wireframe
//to a physics client, over shared memory
void physicsDebugDraw(int debugDrawFlags);
void renderScene();
void renderScene(int renderFlags);
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);

2
examples/SharedMemory/SharedMemoryCommandProcessor.cpp
View File

@@ -183,7 +183,7 @@ bool SharedMemoryCommandProcessor::receiveStatus(struct SharedMemoryStatus& serv
return false;
}
void SharedMemoryCommandProcessor::renderScene()
void SharedMemoryCommandProcessor::renderScene(int renderFlags)
{
}

2
examples/SharedMemory/SharedMemoryCommandProcessor.h
View File

@@ -23,7 +23,7 @@ public:
virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
virtual void renderScene();
virtual void renderScene(int renderFlags);
virtual void physicsDebugDraw(int debugDrawFlags);
virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);

7
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -353,6 +353,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_COLLISION_FILTER_MODE=512,
SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
SIM_PARAM_MAX_CMD_PER_1MS = 2048,
SIM_PARAM_ENABLE_FILE_CACHING = 4096,
};
enum EnumLoadBunnyUpdateFlags
@@ -384,6 +386,7 @@ struct SendPhysicsSimulationParameters
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;
int m_enableFileCaching;
};
struct LoadBunnyArgs
@@ -675,7 +678,8 @@ enum eVRCameraEnums
{
VR_CAMERA_ROOT_POSITION=1,
VR_CAMERA_ROOT_ORIENTATION=2,
VR_CAMERA_ROOT_TRACKING_OBJECT=4
VR_CAMERA_ROOT_TRACKING_OBJECT=4,
VR_CAMERA_FLAG = 8,
};
enum eStateLoggingEnums
@@ -696,6 +700,7 @@ struct VRCameraState
double m_rootPosition[3];
double m_rootOrientation[4];
int m_trackingObjectUniqueId;
int m_trackingObjectFlag;
};

10
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -320,6 +320,11 @@ enum eVRDeviceTypeEnums
VR_DEVICE_GENERIC_TRACKER=4,
};
enum EVRCameraFlags
{
VR_CAMERA_TRACK_OBJECT_ORIENTATION=1,
};
struct b3VRControllerEvent
{
int m_controllerId;//valid for VR_CONTROLLER_MOVE_EVENT and VR_CONTROLLER_BUTTON_EVENT
@@ -495,6 +500,11 @@ enum b3ConfigureDebugVisualizerEnum
COV_ENABLE_GUI=1,
COV_ENABLE_SHADOWS,
COV_ENABLE_WIREFRAME,
COV_ENABLE_VR_TELEPORTING,
COV_ENABLE_VR_PICKING,
COV_ENABLE_VR_RENDER_CONTROLLERS,
COV_ENABLE_RENDERING,
COV_ENABLE_SYNC_RENDERING_INTERNAL,
};
enum eCONNECT_METHOD {

1
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -516,7 +516,6 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
{
const btArray<UrdfVisual>* shapeArray;
bool useVisual;
int cnt = 0;
if (linkPtr->m_visualArray.size() > 0)

113
examples/StandaloneMain/hellovr_opengl_main.cpp
View File

@@ -367,6 +367,49 @@ void MyKeyboardCallback(int key, int state)
prevKeyboardCallback(key,state);
}
#include "../SharedMemory/SharedMemoryPublic.h"
extern bool useShadowMap;
bool gEnableVRRenderControllers=true;
void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable)
{
if (flag == COV_ENABLE_SHADOWS)
{
useShadowMap = enable;
}
if (flag == COV_ENABLE_GUI)
{
//there is no regular GUI here, but disable the
}
if (flag == COV_ENABLE_VR_RENDER_CONTROLLERS)
{
gEnableVRRenderControllers = enable;
}
if (flag == COV_ENABLE_WIREFRAME)
{
if (enable)
{
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
//gDebugDrawFlags |= btIDebugDraw::DBG_DrawWireframe;
} else
{
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL);
//gDebugDrawFlags &= ~btIDebugDraw::DBG_DrawWireframe;
}
}
}
//-----------------------------------------------------------------------------
// Purpose:
//-----------------------------------------------------------------------------
@@ -418,6 +461,7 @@ bool CMainApplication::BInit()
sGuiPtr = new OpenGLGuiHelper(m_app,false);
sGuiPtr->setVisualizerFlagCallback(VRPhysicsServerVisualizerFlagCallback);
sGuiPtr->setVRMode(true);
//sGuiPtr = new DummyGUIHelper;
@@ -773,6 +817,7 @@ bool CMainApplication::HandleInput()
if (button==2)
{
//glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
///so it can (and likely will) cause crashes
///add a special debug drawer that deals with this
@@ -810,7 +855,6 @@ bool CMainApplication::HandleInput()
if (button==2)
{
gDebugDrawFlags = 0;
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL);
}
sExample->vrControllerButtonCallback(unDevice, button, 0, pos, orn);
@@ -1379,6 +1423,8 @@ extern int gGraspingController;
void CMainApplication::DrawControllers()
{
// don't draw controllers if somebody else has input focus
if( m_pHMD->IsInputFocusCapturedByAnotherProcess() )
return;
@@ -1866,39 +1912,42 @@ void CMainApplication::RenderScene( vr::Hmd_Eye nEye )
bool bIsInputCapturedByAnotherProcess = m_pHMD->IsInputFocusCapturedByAnotherProcess();
if( !bIsInputCapturedByAnotherProcess )
if (gEnableVRRenderControllers)
{
// draw the controller axis lines
glUseProgram( m_unControllerTransformProgramID );
glUniformMatrix4fv( m_nControllerMatrixLocation, 1, GL_FALSE, GetCurrentViewProjectionMatrix( nEye ).get() );
glBindVertexArray( m_unControllerVAO );
glDrawArrays( GL_LINES, 0, m_uiControllerVertcount );
glBindVertexArray( 0 );
if( !bIsInputCapturedByAnotherProcess )
{
// draw the controller axis lines
glUseProgram( m_unControllerTransformProgramID );
glUniformMatrix4fv( m_nControllerMatrixLocation, 1, GL_FALSE, GetCurrentViewProjectionMatrix( nEye ).get() );
glBindVertexArray( m_unControllerVAO );
glDrawArrays( GL_LINES, 0, m_uiControllerVertcount );
glBindVertexArray( 0 );
}
// ----- Render Model rendering -----
glUseProgram( m_unRenderModelProgramID );
for( uint32_t unTrackedDevice = 0; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; unTrackedDevice++ )
{
if( !m_rTrackedDeviceToRenderModel[ unTrackedDevice ] || !m_rbShowTrackedDevice[ unTrackedDevice ] )
continue;
const vr::TrackedDevicePose_t & pose = m_rTrackedDevicePose[ unTrackedDevice ];
if( !pose.bPoseIsValid )
continue;
if( bIsInputCapturedByAnotherProcess && m_pHMD->GetTrackedDeviceClass( unTrackedDevice ) == vr::TrackedDeviceClass_Controller )
continue;
const Matrix4 & matDeviceToTracking = m_rmat4DevicePose[ unTrackedDevice ];
Matrix4 matMVP = GetCurrentViewProjectionMatrix( nEye ) * matDeviceToTracking;
glUniformMatrix4fv( m_nRenderModelMatrixLocation, 1, GL_FALSE, matMVP.get() );
m_rTrackedDeviceToRenderModel[ unTrackedDevice ]->Draw();
}
}
// ----- Render Model rendering -----
glUseProgram( m_unRenderModelProgramID );
for( uint32_t unTrackedDevice = 0; unTrackedDevice < vr::k_unMaxTrackedDeviceCount; unTrackedDevice++ )
{
if( !m_rTrackedDeviceToRenderModel[ unTrackedDevice ] || !m_rbShowTrackedDevice[ unTrackedDevice ] )
continue;
const vr::TrackedDevicePose_t & pose = m_rTrackedDevicePose[ unTrackedDevice ];
if( !pose.bPoseIsValid )
continue;
if( bIsInputCapturedByAnotherProcess && m_pHMD->GetTrackedDeviceClass( unTrackedDevice ) == vr::TrackedDeviceClass_Controller )
continue;
const Matrix4 & matDeviceToTracking = m_rmat4DevicePose[ unTrackedDevice ];
Matrix4 matMVP = GetCurrentViewProjectionMatrix( nEye ) * matDeviceToTracking;
glUniformMatrix4fv( m_nRenderModelMatrixLocation, 1, GL_FALSE, matMVP.get() );
m_rTrackedDeviceToRenderModel[ unTrackedDevice ]->Draw();
}
glUseProgram( 0 );
glUseProgram( 0 );
}

5
examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
View File

@@ -560,9 +560,12 @@ LoadObj(
int maxchars = 8192; // Alloc enough size.
std::vector<char> buf(maxchars); // Alloc enough size.
std::string linebuf;
linebuf.reserve(maxchars);
while (ifs.peek() != -1) {
std::string linebuf;
linebuf.resize(0);
safeGetline(ifs,linebuf);
// Trim newline '\r\n' or '\r'

85
examples/pybullet/pybullet.c
View File

@@ -95,6 +95,9 @@ static int pybullet_internalSetMatrix(PyObject* objMat, float matrix[16])
int i, len;
PyObject* seq;
if (objMat==NULL)
return 0;
seq = PySequence_Fast(objMat, "expected a sequence");
if (seq)
{
@@ -123,6 +126,7 @@ static int pybullet_internalSetVector(PyObject* objVec, float vector[3])
{
int i, len;
PyObject* seq = 0;
if (objVec == NULL)
return 0;
@@ -720,13 +724,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int collisionFilterMode = -1;
double contactBreakingThreshold = -1;
int maxNumCmdPer1ms = -2;
int enableFileCaching = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &physicsClientId))
{
return NULL;
}
@@ -777,6 +783,11 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParamSetMaxNumCommandsPer1ms(command, maxNumCmdPer1ms);
}
if (enableFileCaching>=0)
{
b3PhysicsParamSetEnableFileCaching(command, enableFileCaching);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
@@ -3699,11 +3710,12 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
PyObject* rootPosObj = 0;
PyObject* rootOrnObj = 0;
int trackObjectUid = -2;
int trackObjectFlag = -1;
double rootPos[3];
double rootOrn[4];
static char* kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOii", kwlist, &rootPosObj, &rootOrnObj, &trackObjectUid, &physicsClientId))
static char* kwlist[] = {"rootPosition", "rootOrientation", "trackObject", "trackObjectFlag","physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|OOiii", kwlist, &rootPosObj, &rootOrnObj, &trackObjectUid,&trackObjectFlag, &physicsClientId))
{
return NULL;
}
@@ -3730,6 +3742,11 @@ static PyObject* pybullet_setVRCameraState(PyObject* self, PyObject* args, PyObj
b3SetVRCameraTrackingObject(commandHandle, trackObjectUid);
}
if (trackObjectFlag>=-1)
{
b3SetVRCameraTrackingObjectFlag(commandHandle, trackObjectFlag);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
statusType = b3GetStatusType(statusHandle);
@@ -4543,7 +4560,7 @@ static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject*
b3PhysicsClientHandle sm = 0;
int numJoints = -1;
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "enableSensor", "physicsClientId"};
static char* kwlist[] = {"bodyUniqueId", "jointIndex", "enableSensor", "physicsClientId",NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &jointIndex, &enableSensor, &physicsClientId))
{
@@ -4755,12 +4772,13 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
float projectionMatrix[16];
float lightDir[3];
float lightColor[3];
float lightDist = 10.0;
int hasShadow = 0;
float lightAmbientCoeff = 0.6;
float lightDiffuseCoeff = 0.35;
float lightSpecularCoeff = 0.05;
int renderer = 0;
float lightDist = -1;
int hasShadow = -1;
float lightAmbientCoeff = -1;
float lightDiffuseCoeff = -1;
float lightSpecularCoeff = -1;
int renderer = -1;
// inialize cmd
b3SharedMemoryCommandHandle command;
int physicsClientId = 0;
@@ -4783,12 +4801,12 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3RequestCameraImageSetPixelResolution(command, width, height);
// set camera matrices only if set matrix function succeeds
if (pybullet_internalSetMatrix(objViewMat, viewMatrix) && (pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
if (objViewMat && objProjMat && pybullet_internalSetMatrix(objViewMat, viewMatrix) && (pybullet_internalSetMatrix(objProjMat, projectionMatrix)))
{
b3RequestCameraImageSetCameraMatrices(command, viewMatrix, projectionMatrix);
}
//set light direction only if function succeeds
if (pybullet_internalSetVector(lightDirObj, lightDir))
if (lightDirObj && pybullet_internalSetVector(lightDirObj, lightDir))
{
b3RequestCameraImageSetLightDirection(command, lightDir);
}
@@ -4797,16 +4815,34 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
{
b3RequestCameraImageSetLightColor(command, lightColor);
}
if (lightDist>=0)
{
b3RequestCameraImageSetLightDistance(command, lightDist);
}
b3RequestCameraImageSetLightDistance(command, lightDist);
if (hasShadow>=0)
{
b3RequestCameraImageSetShadow(command, hasShadow);
}
if (lightAmbientCoeff>=0)
{
b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff);
}
if (lightDiffuseCoeff>=0)
{
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
}
b3RequestCameraImageSetShadow(command, hasShadow);
if (lightSpecularCoeff>=0)
{
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
}
b3RequestCameraImageSetLightAmbientCoeff(command, lightAmbientCoeff);
b3RequestCameraImageSetLightDiffuseCoeff(command, lightDiffuseCoeff);
b3RequestCameraImageSetLightSpecularCoeff(command, lightSpecularCoeff);
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
if (renderer>=0)
{
b3RequestCameraImageSelectRenderer(command, renderer);//renderer could be ER_BULLET_HARDWARE_OPENGL
}
//PyErr_Clear();
if (b3CanSubmitCommand(sm))
{
@@ -6332,6 +6368,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "VR_DEVICE_HMD", VR_DEVICE_HMD);
PyModule_AddIntConstant(m, "VR_DEVICE_GENERIC_TRACKER", VR_DEVICE_GENERIC_TRACKER);
PyModule_AddIntConstant(m, "VR_CAMERA_TRACK_OBJECT_ORIENTATION", VR_CAMERA_TRACK_OBJECT_ORIENTATION);
PyModule_AddIntConstant(m, "KEY_IS_DOWN", eButtonIsDown);
PyModule_AddIntConstant(m, "KEY_WAS_TRIGGERED", eButtonTriggered);
PyModule_AddIntConstant(m, "KEY_WAS_RELEASED", eButtonReleased);
@@ -6346,6 +6384,11 @@ initpybullet(void)
PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);
PyModule_AddIntConstant(m, "COV_ENABLE_WIREFRAME", COV_ENABLE_WIREFRAME);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_PICKING", COV_ENABLE_VR_PICKING);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING);
PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS);
PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);

2
setup.py
View File

@@ -417,7 +417,7 @@ else:
setup(
name = 'pybullet',
version='1.0.4',
version='1.0.6',
description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
url='https://github.com/bulletphysics/bullet3',

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
View File

@@ -1514,6 +1514,8 @@ void btCollisionWorld::debugDrawWorld()
{
if (getDebugDrawer())
{
getDebugDrawer()->clearLines();
btIDebugDraw::DefaultColors defaultColors = getDebugDrawer()->getDefaultColors();
if ( getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)

4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -798,6 +798,8 @@ void btMultiBodyDynamicsWorld::debugDrawWorld()
{
BT_PROFILE("btMultiBodyDynamicsWorld debugDrawWorld");
btDiscreteDynamicsWorld::debugDrawWorld();
bool drawConstraints = false;
if (getDebugDrawer())
{
@@ -867,7 +869,7 @@ void btMultiBodyDynamicsWorld::debugDrawWorld()
}
}
btDiscreteDynamicsWorld::debugDrawWorld();
}

4
src/LinearMath/btIDebugDraw.h
View File

@@ -469,6 +469,10 @@ class btIDebugDraw
drawLine(transform*pt2,transform*pt3,color);
}
virtual void clearLines()
{
}
virtual void flushLines()
{
}