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Add preliminary PhysX 4.0 backend for PyBullet

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Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
This commit is contained in:
erwincoumans
2019-01-22 21:08:37 -08:00
parent 80684f44ea
commit ae8e83988b
366 changed files with 131855 additions and 359 deletions
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59
examples/OpenGLWindow/SimpleOpenGL3App.cpp
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@@ -57,6 +57,7 @@ struct SimpleInternalData
int m_droidRegular;
int m_droidRegular2;
int m_textureId;
const char* m_frameDumpPngFileName;
FILE* m_ffmpegFile;
@@ -74,6 +75,7 @@ struct SimpleInternalData
m_renderCallbacks2(0),
m_droidRegular(0),
m_droidRegular2(0),
m_textureId(-1),
m_frameDumpPngFileName(0),
m_ffmpegFile(0),
m_renderTexture(0),
@@ -772,6 +774,51 @@ void SimpleOpenGL3App::registerGrid(int cells_x, int cells_z, float color0[4], f
int SimpleOpenGL3App::registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId)
{
int red = 255;
int green = 0;
int blue = 128;
if (textureId<0)
{
if (m_data->m_textureId < 0)
{
int texWidth = 1024;
int texHeight = 1024;
b3AlignedObjectArray<unsigned char> texels;
texels.resize(texWidth * texHeight * 3);
for (int i = 0; i < texWidth * texHeight * 3; i++)
texels[i] = 255;
for (int i = 0; i < texWidth; i++)
{
for (int j = 0; j < texHeight; j++)
{
int a = i < texWidth / 2 ? 1 : 0;
int b = j < texWidth / 2 ? 1 : 0;
if (a == b)
{
texels[(i + j * texWidth) * 3 + 0] = red;
texels[(i + j * texWidth) * 3 + 1] = green;
texels[(i + j * texWidth) * 3 + 2] = blue;
// texels[(i+j*texWidth)*4+3] = 255;
}
/*else
{
texels[i*3+0+j*texWidth] = 255;
texels[i*3+1+j*texWidth] = 255;
texels[i*3+2+j*texWidth] = 255;
}
*/
}
}
m_data->m_textureId = m_instancingRenderer->registerTexture(&texels[0], texWidth, texHeight);
}
textureId = m_data->m_textureId;
}
int strideInBytes = 9 * sizeof(float);
int graphicsShapeIndex = -1;
@@ -795,17 +842,17 @@ int SimpleOpenGL3App::registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lo
}
case SPHERE_LOD_MEDIUM:
{
int numVertices = sizeof(medium_sphere_vertices) / strideInBytes;
int numIndices = sizeof(medium_sphere_indices) / sizeof(int);
graphicsShapeIndex = m_instancingRenderer->registerShape(&medium_sphere_vertices[0], numVertices, medium_sphere_indices, numIndices, B3_GL_TRIANGLES, textureId);
int numVertices = sizeof(textured_detailed_sphere_vertices) / strideInBytes;
int numIndices = sizeof(textured_detailed_sphere_indices) / sizeof(int);
graphicsShapeIndex = m_instancingRenderer->registerShape(&textured_detailed_sphere_vertices[0], numVertices, textured_detailed_sphere_indices, numIndices, B3_GL_TRIANGLES, textureId);
break;
}
case SPHERE_LOD_HIGH:
default:
{
int numVertices = sizeof(detailed_sphere_vertices) / strideInBytes;
int numIndices = sizeof(detailed_sphere_indices) / sizeof(int);
graphicsShapeIndex = m_instancingRenderer->registerShape(&detailed_sphere_vertices[0], numVertices, detailed_sphere_indices, numIndices, B3_GL_TRIANGLES, textureId);
int numVertices = sizeof(textured_detailed_sphere_vertices) / strideInBytes;
int numIndices = sizeof(textured_detailed_sphere_indices) / sizeof(int);
graphicsShapeIndex = m_instancingRenderer->registerShape(&textured_detailed_sphere_vertices[0], numVertices, textured_detailed_sphere_indices, numIndices, B3_GL_TRIANGLES, textureId);
break;
}
};