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Thanks to @dchichkov for some of the fixes in the eglRendererPlugin!

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Rename tinyRenderer -> eglRenderer in the eglRendererPlugin.
Allow to run the eglRendererPlugin to run on Windows (not in EGL mode but Win32OpenGLWindow mode)

Here is a script I tested on Windows:
~~~~~~~~~~~~
mport pybullet as p
import time

p.connect(p.DIRECT)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_eglRendererPlugin_vs2010_x64_debug.dll","_eglRendererPlugin")
print("plugin=",plugin)
p.setGravity(0,0,-10)
p.loadURDF("plane.urdf",[0,0,-1])
p.loadURDF("r2d2.urdf")
pixelWidth = 320
pixelHeight = 220
while (1):
	p.stepSimulation()
	viewMatrix = [1.0, 0.0, -0.0, 0.0, -0.0, 0.1736481785774231, -0.9848078489303589, 0.0, 0.0, 0.9848078489303589, 0.1736481785774231, 0.0, -0.0, -5.960464477539063e-08, -4.0, 1.0]
	projectionMatrix  = [1.0825318098068237, 0.0, 0.0, 0.0, 0.0, 1.732050895690918, 0.0, 0.0, 0.0, 0.0, -1.0002000331878662, -1.0, 0.0, 0.0, -0.020002000033855438, 0.0]

	#img_arr = p.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	img_arr = p.getCameraImage(pixelWidth, pixelHeight, shadow=1,lightDirection=[1,1,1])#,renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
	#print("img_arr=",img_arr)
	time.sleep(1)
~~~~~~~~~~~~~
This commit is contained in:
erwincoumans
2018-09-09 13:37:49 -07:00
parent dc7feb9027
commit adb5c049c7
10 changed files with 159 additions and 184 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
build3/premake4.lua
View File

@@ -73,6 +73,14 @@
description = "Use Midi controller to control parameters" description = "Use Midi controller to control parameters"
} }
newoption
{
trigger = "enable_egl",
description = "Build an experimental eglPlugin"
}
newoption newoption
{ {
trigger = "enable_grpc", trigger = "enable_grpc",
@@ -146,6 +154,13 @@
end end
if _OPTIONS["enable_egl"] then
function initEGL()
defines {"BT_USE_EGL"}
end
end
if _OPTIONS["enable_grpc"] then if _OPTIONS["enable_grpc"] then
function initGRPC() function initGRPC()

9
build_visual_studio_vr_pybullet_double.bat
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@@ -12,16 +12,17 @@ set /p myvar1= < tmp1234.txt
set myvar=c:/%myvar1% set myvar=c:/%myvar1%
del tmp1234.txt del tmp1234.txt
#you can also override and hardcode the Python path like this (just remove the # hashmark in next line) rem you can also override and hardcode the Python path like this (just remove the # hashmark in next line)
#SET myvar=c:\python-3.5.2 rem SET myvar=c:\python-3.5.2
cd build3 cd build3
premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
#premake4 --double --grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010
#premake4 --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010 rem premake4 --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010
rem premake4 --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../binserver" vs2010
rem premake4 --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
start vs2010 start vs2010

11
examples/OpenGLWindow/EGLOpenGLWindow.cpp
View File

@@ -30,11 +30,12 @@
#ifdef BT_USE_EGL #ifdef BT_USE_EGL
#include <pthread.h>
#include <stdio.h> #include <stdio.h>
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include <unistd.h>
#include "OpenGLInclude.h" #include "OpenGLInclude.h"
@@ -213,7 +214,7 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) {
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (!gladLoadGL(eglGetProcAddress)) { if (!gladLoadGL((GLADloadfunc) eglGetProcAddress)) {
fprintf(stderr, "failed to load GL with glad.\n"); fprintf(stderr, "failed to load GL with glad.\n");
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
@@ -228,8 +229,8 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci) {
const GLubyte* sl = glGetString(GL_SHADING_LANGUAGE_VERSION); const GLubyte* sl = glGetString(GL_SHADING_LANGUAGE_VERSION);
printf("GL_SHADING_LANGUAGE_VERSION=%s\n", sl); printf("GL_SHADING_LANGUAGE_VERSION=%s\n", sl);
int i = pthread_getconcurrency(); //int i = pthread_getconcurrency();
printf("pthread_getconcurrency()=%d\n", i); //printf("pthread_getconcurrency()=%d\n", i);
} }
void EGLOpenGLWindow::closeWindow() { void EGLOpenGLWindow::closeWindow() {

85
examples/SharedMemory/plugins/eglPlugin/bullet.py
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@@ -1,85 +0,0 @@
import os
import sys
import time
import subprocess
import pybullet as p
from pdb import set_trace
import matplotlib.pyplot as plt
import numpy as np
#subprocess.call(["hardening-check", p.__file__])
p.connect(p.DIRECT)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "debugTimings")
plugin = True
if plugin:
plugin_fn = '/home/argusm/lang/bullet3/build/lib.linux-x86_64-3.5/eglRenderer.cpython-35m-x86_64-linux-gnu.so'
plugin = p.loadPlugin(plugin_fn,"_tinyRendererPlugin")
if plugin < 0:
print("\nPlugin Failed to load!\n")
sys.exit()
print("plugin =",plugin)
path = '/home/argusm/lang/bullet3/examples/pybullet/gym/pybullet_data/duck_vhacd.urdf'
p.loadURDF(path,globalScaling=12)
#path = '/home/argusm/lang/gym-grasping/gym_grasping/robots/models/kuka_iiwa/kuka_weiss_bolt.sdf'
#p.loadSDF(path)
start = time.time()
camTargetPos = [0,0,0]
upAxisIndex = 2
nearPlane = 0.01
farPlane = 100
camDistance = 2
pixelWidth = 128
pixelHeight = 128
fov = 60
plot = False
anim = True
if plot:
plt.ion()
if anim:
import matplotlib.animation as manimation
FFMpegWriter = manimation.writers['ffmpeg']
metadata = dict(title='Movie Test', artist='Matplotlib',
comment='Movie support!')
writer = FFMpegWriter(fps=15, metadata=metadata)
if plot or anim:
fig = plt.figure()
img = np.random.rand(pixelWidth,pixelHeight)
image = plt.imshow(img,interpolation='none',animated=True,label="blah")
ax = plt.gca()
ax.set_axis_off()
ax.set_aspect('equal')
plt.subplots_adjust(wspace=0, hspace=0, left=0, bottom=0, right=1, top=1)
try:
iter = range(0,360,10)
with writer.saving(fig, "debug.mp4", len(iter)):
for i,yaw in enumerate(iter):
viewMatrix = p.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, 0, yaw-90, 0, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
hight, width, img_arr, deept_arr, obj_arr = p.getCameraImage(pixelWidth,pixelHeight,viewMatrix,projectionMatrix)
if plot:
image.set_data(img_arr)#np_img_arr)
ax.plot([0])
#plt.draw()
#plt.show()
plt.pause(0.01)
if anim:
image.set_data(img_arr)#np_img_arr)
ax.plot([0])
writer.grab_frame()
if i % 100 == 0 and i > 0:
print("FPS",100/(time.time()-start))
start = time.time()
finally:
p.stopStateLogging(logId)

34
examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp
View File

@@ -1,15 +1,7 @@
//tinyRenderer plugin //eglRenderer plugin
/* //see Bullet/examples/pybullet/examples/eglRendererTest.py
import pybullet as p
p.connect(p.GUI)
plugin = p.loadPlugin("e:/develop/bullet3/bin/pybullet_tinyRendererPlugin_vs2010_x64_debug.dll","_tinyRendererPlugin")
print("plugin=",plugin)
p.loadURDF("r2d2.urdf")
while (1):
p.getCameraImage(320,200)
*/
#include "eglRendererPlugin.h" #include "eglRendererPlugin.h"
#include "eglRendererVisualShapeConverter.h" #include "eglRendererVisualShapeConverter.h"
@@ -20,43 +12,43 @@ while (1):
struct MyRendererPluginClass struct EGLRendererPluginClass
{ {
TinyRendererVisualShapeConverter m_renderer; EGLRendererVisualShapeConverter m_renderer;
MyRendererPluginClass() EGLRendererPluginClass()
{ {
} }
virtual ~MyRendererPluginClass() virtual ~EGLRendererPluginClass()
{ {
} }
}; };
B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context) B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context)
{ {
MyRendererPluginClass* obj = new MyRendererPluginClass(); EGLRendererPluginClass* obj = new EGLRendererPluginClass();
context->m_userPointer = obj; context->m_userPointer = obj;
return SHARED_MEMORY_MAGIC_NUMBER; return SHARED_MEMORY_MAGIC_NUMBER;
} }
B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments) B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments)
{ {
return -1; return -1;
} }
B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context) B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context)
{ {
MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer; EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
delete obj; delete obj;
context->m_userPointer = 0; context->m_userPointer = 0;
} }
//all the APIs below are optional //all the APIs below are optional
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context) B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugin(struct b3PluginContext* context)
{ {
MyRendererPluginClass* obj = (MyRendererPluginClass*) context->m_userPointer; EGLRendererPluginClass* obj = (EGLRendererPluginClass*) context->m_userPointer;
return &obj->m_renderer; return &obj->m_renderer;
} }

14
examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.h
View File

@@ -1,5 +1,5 @@
#ifndef TINY_RENDERER_PLUGIN_H #ifndef EGL_RENDERER_PLUGIN_H
#define TINY_RENDERER_PLUGIN_H #define EGL_RENDERER_PLUGIN_H
#include "../b3PluginAPI.h" #include "../b3PluginAPI.h"
@@ -9,12 +9,12 @@ extern "C"
#endif #endif
//initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load //initPlugin, exitPlugin and executePluginCommand are required, otherwise plugin won't load
B3_SHARED_API int initPlugin_tinyRendererPlugin(struct b3PluginContext* context); B3_SHARED_API int initPlugin_eglRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API void exitPlugin_tinyRendererPlugin(struct b3PluginContext* context); B3_SHARED_API void exitPlugin_eglRendererPlugin(struct b3PluginContext* context);
B3_SHARED_API int executePluginCommand_tinyRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments); B3_SHARED_API int executePluginCommand_eglRendererPlugin(struct b3PluginContext* context, const struct b3PluginArguments* arguments);
//all the APIs below are optional //all the APIs below are optional
B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlugin(struct b3PluginContext* context); B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_eglRendererPlugin(struct b3PluginContext* context);
@@ -22,4 +22,4 @@ B3_SHARED_API struct UrdfRenderingInterface* getRenderInterface_tinyRendererPlug
}; };
#endif #endif
#endif//#define TEST_PLUGIN_H #endif//#define EGL_RENDERER_PLUGIN_H

123
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
View File

@@ -38,9 +38,16 @@ subject to the following restrictions:
#include "stb_image/stb_image.h" #include "stb_image/stb_image.h"
#include "../OpenGLWindow/EGLOpenGLWindow.h" #ifdef _WIN32
#include "../OpenGLWindow/GLInstancingRenderer.h" #include "OpenGLWindow/Win32OpenGLWindow.h"
#include "../OpenGLWindow/GLRenderToTexture.h" typedef Win32OpenGLWindow DefaultOpenGLWindow;
#else
#include "OpenGLWindow/EGLOpenGLWindow.h"
typedef EGLOpenGLWindow DefaultOpenGLWindow;
#endif
#include "OpenGLWindow/GLInstancingRenderer.h"
#include "OpenGLWindow/GLRenderToTexture.h"
static void printGLString(const char *name, GLenum s) { static void printGLString(const char *name, GLenum s) {
const char *v = (const char *) glGetString(s); const char *v = (const char *) glGetString(s);
@@ -62,6 +69,7 @@ struct TinyRendererObjectArray
btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects; btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects;
int m_objectUniqueId; int m_objectUniqueId;
int m_linkIndex; int m_linkIndex;
int m_graphicsInstanceId;
btTransform m_worldTransform; btTransform m_worldTransform;
btVector3 m_localScaling; btVector3 m_localScaling;
@@ -69,13 +77,14 @@ struct TinyRendererObjectArray
{ {
m_worldTransform.setIdentity(); m_worldTransform.setIdentity();
m_localScaling.setValue(1,1,1); m_localScaling.setValue(1,1,1);
m_graphicsInstanceId = -1;
} }
}; };
#define START_WIDTH 640 #define START_WIDTH 640
#define START_HEIGHT 480 #define START_HEIGHT 480
struct TinyRendererVisualShapeConverterInternalData struct EGLRendererVisualShapeConverterInternalData
{ {
class CommonWindowInterface* m_window; class CommonWindowInterface* m_window;
class GLInstancingRenderer* m_instancingRenderer; class GLInstancingRenderer* m_instancingRenderer;
@@ -111,7 +120,7 @@ struct TinyRendererVisualShapeConverterInternalData
SimpleCamera m_camera; SimpleCamera m_camera;
TinyRendererVisualShapeConverterInternalData() EGLRendererVisualShapeConverterInternalData()
:m_upAxis(2), :m_upAxis(2),
m_swWidth(START_WIDTH), m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT), m_swHeight(START_HEIGHT),
@@ -137,7 +146,7 @@ struct TinyRendererVisualShapeConverterInternalData
// OpenGL window // OpenGL window
bool allowRetina=true; bool allowRetina=true;
m_window = new EGLOpenGLWindow(); m_window = new DefaultOpenGLWindow();
m_window->setAllowRetina(allowRetina); m_window->setAllowRetina(allowRetina);
b3gWindowConstructionInfo ci; b3gWindowConstructionInfo ci;
ci.m_title = "Title"; ci.m_title = "Title";
@@ -177,9 +186,9 @@ struct TinyRendererVisualShapeConverterInternalData
TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter() EGLRendererVisualShapeConverter::EGLRendererVisualShapeConverter()
{ {
m_data = new TinyRendererVisualShapeConverterInternalData(); m_data = new EGLRendererVisualShapeConverterInternalData();
float dist = 1.5; float dist = 1.5;
float pitch = -10; float pitch = -10;
@@ -190,53 +199,53 @@ TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
} }
TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter() EGLRendererVisualShapeConverter::~EGLRendererVisualShapeConverter()
{ {
resetAll(); resetAll();
delete m_data; delete m_data;
} }
void TinyRendererVisualShapeConverter::setLightDirection(float x, float y, float z) void EGLRendererVisualShapeConverter::setLightDirection(float x, float y, float z)
{ {
m_data->m_lightDirection.setValue(x, y, z); m_data->m_lightDirection.setValue(x, y, z);
m_data->m_hasLightDirection = true; m_data->m_hasLightDirection = true;
} }
void TinyRendererVisualShapeConverter::setLightColor(float x, float y, float z) void EGLRendererVisualShapeConverter::setLightColor(float x, float y, float z)
{ {
m_data->m_lightColor.setValue(x, y, z); m_data->m_lightColor.setValue(x, y, z);
m_data->m_hasLightColor = true; m_data->m_hasLightColor = true;
} }
void TinyRendererVisualShapeConverter::setLightDistance(float dist) void EGLRendererVisualShapeConverter::setLightDistance(float dist)
{ {
m_data->m_lightDistance = dist; m_data->m_lightDistance = dist;
m_data->m_hasLightDistance = true; m_data->m_hasLightDistance = true;
} }
void TinyRendererVisualShapeConverter::setShadow(bool hasShadow) void EGLRendererVisualShapeConverter::setShadow(bool hasShadow)
{ {
m_data->m_hasShadow = hasShadow; m_data->m_hasShadow = hasShadow;
} }
void TinyRendererVisualShapeConverter::setFlags(int flags) void EGLRendererVisualShapeConverter::setFlags(int flags)
{ {
m_data->m_flags = flags; m_data->m_flags = flags;
} }
void TinyRendererVisualShapeConverter::setLightAmbientCoeff(float ambientCoeff) void EGLRendererVisualShapeConverter::setLightAmbientCoeff(float ambientCoeff)
{ {
m_data->m_lightAmbientCoeff = ambientCoeff; m_data->m_lightAmbientCoeff = ambientCoeff;
m_data->m_hasLightAmbientCoeff = true; m_data->m_hasLightAmbientCoeff = true;
} }
void TinyRendererVisualShapeConverter::setLightDiffuseCoeff(float diffuseCoeff) void EGLRendererVisualShapeConverter::setLightDiffuseCoeff(float diffuseCoeff)
{ {
m_data->m_lightDiffuseCoeff = diffuseCoeff; m_data->m_lightDiffuseCoeff = diffuseCoeff;
m_data->m_hasLightDiffuseCoeff = true; m_data->m_hasLightDiffuseCoeff = true;
} }
void TinyRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff) void EGLRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
{ {
m_data->m_lightSpecularCoeff = specularCoeff; m_data->m_lightSpecularCoeff = specularCoeff;
m_data->m_hasLightSpecularCoeff = true; m_data->m_hasLightSpecularCoeff = true;
@@ -609,7 +618,7 @@ static btVector4 sColors[4] =
// If you are getting segfaults in this function it may be ecause you are // If you are getting segfaults in this function it may be ecause you are
// compliling the plugin with differently from pybullet, try complining the // compliling the plugin with differently from pybullet, try complining the
// plugin with distutils too. // plugin with distutils too.
void TinyRendererVisualShapeConverter::convertVisualShapes( void EGLRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model, const UrdfLink* linkPtr, const UrdfModel* model,
int collisionObjectUniqueId, int bodyUniqueId) int collisionObjectUniqueId, int bodyUniqueId)
@@ -739,14 +748,17 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
unsigned char* textureImage1=0; unsigned char* textureImage1=0;
int textureWidth=0; int textureWidth=0;
int textureHeight=0; int textureHeight=0;
bool isCached = false; bool isCached = false;
int textureIndex = -1;
if (textures.size()) if (textures.size())
{ {
textureImage1 = textures[0].textureData1; textureImage1 = textures[0].textureData1;
textureWidth = textures[0].m_width; textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height; textureHeight = textures[0].m_height;
isCached = textures[0].m_isCached; isCached = textures[0].m_isCached;
} textureIndex = m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
}
{ {
B3_PROFILE("registerMeshShape"); B3_PROFILE("registerMeshShape");
@@ -760,10 +772,11 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
B3_PROFILE("m_instancingRenderer register"); B3_PROFILE("m_instancingRenderer register");
// register mesh to m_instancingRenderer too. // register mesh to m_instancingRenderer too.
int textureIndex = m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),textureIndex); int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES, textureIndex);
btVector3 scaling(1,1,1); btVector3 scaling(1,1,1);
m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0],scaling); visuals->m_graphicsInstanceId = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0],scaling);
m_data->m_instancingRenderer->writeTransforms(); m_data->m_instancingRenderer->writeTransforms();
} }
} }
@@ -778,7 +791,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
} }
} }
int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId) int EGLRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
{ {
int start = -1; int start = -1;
//find first one, then count how many //find first one, then count how many
@@ -810,7 +823,7 @@ int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
return count; return count;
} }
int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData) int EGLRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData)
{ {
int start = -1; int start = -1;
//find first one, then count how many //find first one, then count how many
@@ -837,7 +850,7 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4]) void EGLRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
{ {
//int start = -1; //int start = -1;
for (int i = 0; i < m_data->m_visualShapes.size(); i++) for (int i = 0; i < m_data->m_visualShapes.size(); i++)
@@ -874,7 +887,7 @@ void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int lin
void TinyRendererVisualShapeConverter::setUpAxis(int axis) void EGLRendererVisualShapeConverter::setUpAxis(int axis)
{ {
m_data->m_upAxis = axis; m_data->m_upAxis = axis;
m_data->m_camera.setCameraUpAxis(axis); m_data->m_camera.setCameraUpAxis(axis);
@@ -882,7 +895,7 @@ void TinyRendererVisualShapeConverter::setUpAxis(int axis)
m_data->m_instancingRenderer->updateCamera(); m_data->m_instancingRenderer->updateCamera();
} }
void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ) void EGLRendererVisualShapeConverter::resetCamera(float camDist, float yaw, float pitch, float camPosX,float camPosY, float camPosZ)
{ {
m_data->m_camera.setCameraDistance(camDist); m_data->m_camera.setCameraDistance(camDist);
m_data->m_camera.setCameraPitch(pitch); m_data->m_camera.setCameraPitch(pitch);
@@ -892,7 +905,7 @@ void TinyRendererVisualShapeConverter::resetCamera(float camDist, float yaw, flo
m_data->m_camera.update(); m_data->m_camera.update();
} }
void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor) void EGLRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
{ {
float farPlane = m_data->m_camera.getCameraFrustumFar(); float farPlane = m_data->m_camera.getCameraFrustumFar();
for(int y=0;y<m_data->m_swHeight;++y) for(int y=0;y<m_data->m_swHeight;++y)
@@ -908,7 +921,7 @@ void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
} }
void TinyRendererVisualShapeConverter::render() void EGLRendererVisualShapeConverter::render()
{ {
/* /*
ATTRIBUTE_ALIGNED16(float viewMat[16]); ATTRIBUTE_ALIGNED16(float viewMat[16]);
@@ -920,13 +933,23 @@ void TinyRendererVisualShapeConverter::render()
cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl; cout<<viewMat[4*2 + 0]<<" "<<viewMat[4*2+1]<<" "<<viewMat[4*2+2]<<" "<<viewMat[4*2+3] << endl;
cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl; cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
*/ */
B3_PROFILE("m_instancingRenderer render"); B3_PROFILE("m_instancingRenderer render");
m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera); m_data->m_instancingRenderer->writeTransforms();
m_data->m_instancingRenderer->updateCamera(); if (m_data->m_hasLightDirection)
{
m_data->m_instancingRenderer->setLightPosition(m_data->m_lightDirection);
}
m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera);
m_data->m_instancingRenderer->updateCamera(m_data->m_upAxis);
m_data->m_instancingRenderer->renderScene(); m_data->m_instancingRenderer->renderScene();
m_data->m_window->endRendering();
m_data->m_window->startRendering();
} }
void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16]) void EGLRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
{ {
// This code is very similar to that of // This code is very similar to that of
// PhysicsServerCommandProcessor::processRequestCameraImageCommand // PhysicsServerCommandProcessor::processRequestCameraImageCommand
@@ -934,10 +957,10 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
// Tiny allows rendering with viewMat, projMat explicitly, but // Tiny allows rendering with viewMat, projMat explicitly, but
// GLInstancingRender calls m_activeCamera, so set this. // GLInstancingRender calls m_activeCamera, so set this.
m_data->m_camera.setVRCamera(viewMat,projMat);
m_data->m_instancingRenderer->setActiveCamera(&m_data->m_camera); m_data->m_camera.setVRCamera(viewMat,projMat);
m_data->m_instancingRenderer->updateCamera();
m_data->m_instancingRenderer->renderScene(); render();
//cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl; //cout<<viewMat[4*0 + 0]<<" "<<viewMat[4*0+1]<<" "<<viewMat[4*0+2]<<" "<<viewMat[4*0+3] << endl;
//cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl; //cout<<viewMat[4*1 + 0]<<" "<<viewMat[4*1+1]<<" "<<viewMat[4*1+2]<<" "<<viewMat[4*1+3] << endl;
@@ -945,14 +968,14 @@ void TinyRendererVisualShapeConverter::render(const float viewMat[16], const flo
//cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl; //cout<<viewMat[4*3 + 0]<<" "<<viewMat[4*3+1]<<" "<<viewMat[4*3+2]<<" "<<viewMat[4*3+3] << endl;
} }
void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height) void EGLRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
{ {
width = m_data->m_swWidth; width = m_data->m_swWidth;
height = m_data->m_swHeight; height = m_data->m_swHeight;
} }
void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height) void EGLRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
{ {
m_data->m_swWidth = width; m_data->m_swWidth = width;
m_data->m_swHeight = height; m_data->m_swHeight = height;
@@ -966,7 +989,7 @@ void TinyRendererVisualShapeConverter::setWidthAndHeight(int width, int height)
} }
//copied from OpenGLGuiHelper.cpp //copied from OpenGLGuiHelper.cpp
void TinyRendererVisualShapeConverter::copyCameraImageDataGL( void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,
@@ -1079,7 +1102,7 @@ void TinyRendererVisualShapeConverter::copyCameraImageDataGL(
} }
} }
void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, void EGLRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
float* depthBuffer, int depthBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels,
int* segmentationMaskBuffer, int segmentationMaskSizeInPixels, int* segmentationMaskBuffer, int segmentationMaskSizeInPixels,
int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied) int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
@@ -1091,7 +1114,7 @@ void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixels
startPixelIndex, widthPtr, heightPtr, numPixelsCopied); startPixelIndex, widthPtr, heightPtr, numPixelsCopied);
} }
void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqueId) void EGLRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqueId)
{ {
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[collisionObjectUniqueId]; TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances[collisionObjectUniqueId];
if (ptrptr && *ptrptr) if (ptrptr && *ptrptr)
@@ -1110,7 +1133,7 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniq
} }
void TinyRendererVisualShapeConverter::resetAll() void EGLRendererVisualShapeConverter::resetAll()
{ {
for (int i=0;i<m_data->m_swRenderInstances.size();i++) for (int i=0;i<m_data->m_swRenderInstances.size();i++)
{ {
@@ -1142,7 +1165,7 @@ void TinyRendererVisualShapeConverter::resetAll()
} }
void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) void EGLRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{ {
btAssert(textureUniqueId < m_data->m_textures.size()); btAssert(textureUniqueId < m_data->m_textures.size());
if (textureUniqueId >= 0 && textureUniqueId < m_data->m_textures.size()) if (textureUniqueId >= 0 && textureUniqueId < m_data->m_textures.size())
@@ -1170,7 +1193,7 @@ void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, in
} }
} }
int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height) int EGLRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
{ {
MyTexture2 texData; MyTexture2 texData;
texData.m_width = width; texData.m_width = width;
@@ -1181,7 +1204,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
return m_data->m_textures.size()-1; return m_data->m_textures.size()-1;
} }
int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename) int EGLRendererVisualShapeConverter::loadTextureFile(const char* filename)
{ {
B3_PROFILE("loadTextureFile"); B3_PROFILE("loadTextureFile");
int width,height,n; int width,height,n;
@@ -1194,7 +1217,7 @@ int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
return -1; return -1;
} }
void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling) void EGLRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId, const btTransform& worldTransform, const btVector3& localScaling)
{ {
TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[collisionObjectUniqueId]; TinyRendererObjectArray** renderObjPtr = m_data->m_swRenderInstances[collisionObjectUniqueId];
if (renderObjPtr) if (renderObjPtr)
@@ -1202,5 +1225,11 @@ void TinyRendererVisualShapeConverter::syncTransform(int collisionObjectUniqueId
TinyRendererObjectArray* renderObj = *renderObjPtr; TinyRendererObjectArray* renderObj = *renderObjPtr;
renderObj->m_worldTransform = worldTransform; renderObj->m_worldTransform = worldTransform;
renderObj->m_localScaling = localScaling; renderObj->m_localScaling = localScaling;
if (renderObj->m_graphicsInstanceId>=0)
{
btVector3 pos = worldTransform.getOrigin();
btQuaternion orn = worldTransform.getRotation();
m_data->m_instancingRenderer->writeSingleInstanceTransformToCPU(pos, orn, renderObj->m_graphicsInstanceId);
}
} }
} }

9
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.h
View File

@@ -3,15 +3,14 @@
#include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h" #include "../../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
struct TinyRendererVisualShapeConverter : public UrdfRenderingInterface struct EGLRendererVisualShapeConverter : public UrdfRenderingInterface
{ {
int frame = 0;
struct TinyRendererVisualShapeConverterInternalData* m_data; struct EGLRendererVisualShapeConverterInternalData* m_data;
TinyRendererVisualShapeConverter(); EGLRendererVisualShapeConverter();
virtual ~TinyRendererVisualShapeConverter(); virtual ~EGLRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex); virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfLink* linkPtr, const UrdfModel* model, int shapeUid, int objectIndex);

37
examples/SharedMemory/plugins/eglPlugin/premake4.lua
View File

@@ -3,25 +3,36 @@
project ("pybullet_eglRendererPlugin") project ("pybullet_eglRendererPlugin")
language "C++" language "C++"
kind "SharedLib" kind "SharedLib"
initEGL()
includedirs {".","../../../../src", "../../../../examples", includedirs {".","../../../../src", "../../../../examples",
"../../../ThirdPartyLibs"} "../../../ThirdPartyLibs", ""../../examples/ThirdPartyLibs/glad"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"} defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER", "STB_AGAIN"}
hasCL = findOpenCL("clew") hasCL = findOpenCL("clew")
links{"BulletCollision", "Bullet3Common", "LinearMath"} links{"BulletCollision", "Bullet3Common", "LinearMath"}
initOpenGL()
if os.is("Windows") then
files {"../../../OpenGLWindow/Win32OpenGLWindow.cpp",
"../../../OpenGLWindow/Win32GLWindow.cpp",}
end
if os.is("MacOSX") then if os.is("MacOSX") then
-- targetextension {"so"} -- targetextension {"so"}
links{"Cocoa.framework","Python"} links{"Cocoa.framework"}
end end
if os.is("Linux") then
files {"../../../ThirdPartyLibs/glad/glx.c",}
end
files { files {
"eglRendererPlugin.cpp", "eglRendererPlugin.cpp",
"eglRendererPlugin.h", "eglRendererPlugin.h",
"TinyRendererVisualShapeConverter.cpp", "eglRendererVisualShapeConverter.cpp",
"TinyRendererVisualShapeConverter.h", "eglRendererVisualShapeConverter.h",
"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp", "../../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h", "../../../Importers/ImportColladaDemo/LoadMeshFromCollada.h",
"../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp", "../../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
@@ -35,14 +46,22 @@ project ("pybullet_eglRendererPlugin")
"../../../TinyRenderer/our_gl.cpp", "../../../TinyRenderer/our_gl.cpp",
"../../../TinyRenderer/tgaimage.cpp", "../../../TinyRenderer/tgaimage.cpp",
"../../../TinyRenderer/TinyRenderer.cpp", "../../../TinyRenderer/TinyRenderer.cpp",
"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.cpp", "../../../ThirdPartyLibs/glad/gl.c",
"../../../ThirdPartyLibs/Wavefront/egl_obj_loader.h", "../../../ThirdPartyLibs/glad/egl.c",
"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../../ThirdPartyLibs/stb_image/stb_image.cpp", "../../../ThirdPartyLibs/stb_image/stb_image.cpp",
"../../../ThirdPartyLibs/stb_image/stb_image.h", "../../../ThirdPartyLibs/stb_image/stb_image.h",
"../../../ThirdPartyLibs/eglxml2/eglxml2.cpp", "../../../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../../ThirdPartyLibs/eglxml2/eglxml2.h", "../../../ThirdPartyLibs/tinyxml2/tinyxml2.h",
"../../../OpenGLWindow/SimpleCamera.cpp", "../../../OpenGLWindow/SimpleCamera.cpp",
"../../../OpenGLWindow/SimpleCamera.h", "../../../OpenGLWindow/SimpleCamera.h",
"../../../OpenGLWindow/GLInstancingRenderer.cpp",
"../../../OpenGLWindow/GLInstancingRenderer.h",
"../../../OpenGLWindow/LoadShader.cpp",
"../../../OpenGLWindow/LoadShader.h",
"../../../OpenGLWindow/GLRenderToTexture.cpp",
"../../../OpenGLWindow/GLRenderToTexture.h",
"../../../Utils/b3Clock.cpp", "../../../Utils/b3Clock.cpp",
"../../../Utils/b3Clock.h", "../../../Utils/b3Clock.h",
"../../../Utils/b3ResourcePath.cpp", "../../../Utils/b3ResourcePath.cpp",

4
examples/SharedMemory/premake4.lua
View File

@@ -474,6 +474,10 @@ include "plugins/tinyRendererPlugin"
include "plugins/pdControlPlugin" include "plugins/pdControlPlugin"
include "plugins/collisionFilterPlugin" include "plugins/collisionFilterPlugin"
if _OPTIONS["enable_egl"] then
include "plugins/eglPlugin"
end
if _OPTIONS["enable_grpc"] then if _OPTIONS["enable_grpc"] then
include "grpc" include "grpc"
include "plugins/grpcPlugin" include "plugins/grpcPlugin"