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plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision !

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See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
This commit is contained in:
Erwin Coumans
2017-05-01 11:14:09 -07:00
parent 3a330c4280
commit af6bf8ddc8
22 changed files with 389 additions and 108 deletions
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126
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -119,6 +119,7 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
};
struct InteralBodyData
{
btMultiBody* m_multiBody;
@@ -128,6 +129,9 @@ struct InteralBodyData
btTransform m_rootLocalInertialFrame;
btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
#ifdef B3_ENABLE_TINY_AUDIO
btHashMap<btHashInt, SDFAudioSource> m_audioSources;
#endif //B3_ENABLE_TINY_AUDIO
InteralBodyData()
:m_multiBody(0),
@@ -1303,7 +1307,6 @@ struct PhysicsServerCommandProcessorInternalData
TinyRendererVisualShapeConverter m_visualConverter;
#ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine;
int m_wavIds[3];
#endif
PhysicsServerCommandProcessorInternalData()
@@ -1513,49 +1516,66 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
for (int i = 0; i < numContactManifolds; i++)
{
const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
for (int p=0;p<manifold->getNumContacts();p++)
bool objHasSound[2];
objHasSound[0] = (0!=(manifold->getBody0()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
objHasSound[1] = (0!=(manifold->getBody1()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
const btCollisionObject* colObjs[2] = {manifold->getBody0(),manifold->getBody1()};
for (int ob = 0;ob<2;ob++)
{
double imp = manifold->getContactPoint(p).getAppliedImpulse();
//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
if (imp>0.4 && manifold->getContactPoint(p).getLifeTime()==1)
if (objHasSound[ob])
{
int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
if (soundSourceIndex>=0)
int uid0 = -1;
int linkIndex = -2;
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(colObjs[ob]);
if (mblB && mblB->m_multiBody)
{
b3SoundMessage msg;
msg.m_releaseRate = 0.0001;
msg.m_attackRate = 1.;
msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
int cardboardIndex = float(rand())/float(RAND_MAX)*2.9;
linkIndex = mblB->m_link;
uid0 = mblB->m_multiBody->getUserIndex2();
}
const btRigidBody* bodyB = btRigidBody::upcast(colObjs[ob]);
if (bodyB)
{
uid0 = bodyB->getUserIndex2();
linkIndex = -1;
}
msg.m_wavId = m_data->m_wavIds[cardboardIndex];
if ((uid0<0)||(linkIndex<-1))
continue;
float rnd = rand()% 2;
msg.m_frequency = 100+rnd*10.;
InternalBodyHandle* bodyHandle0 = m_data->getHandle(uid0);
SDFAudioSource* audioSrc = bodyHandle0->m_audioSources[linkIndex];
if (audioSrc==0)
continue;
m_data->m_soundEngine.startSound(soundSourceIndex,msg);
m_data->m_soundEngine.releaseSound(soundSourceIndex);
for (int p=0;p<manifold->getNumContacts();p++)
{
double imp = manifold->getContactPoint(p).getAppliedImpulse();
//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
if (imp>audioSrc->m_collisionForceThreshold && manifold->getContactPoint(p).getLifeTime()==1)
{
int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
if (soundSourceIndex>=0)
{
b3SoundMessage msg;
msg.m_attackRate = audioSrc->m_attackRate;
msg.m_decayRate = audioSrc->m_decayRate;
msg.m_sustainLevel = audioSrc->m_sustainLevel;
msg.m_releaseRate = audioSrc->m_releaseRate;
msg.m_amplitude = audioSrc->m_gain;
msg.m_frequency = audioSrc->m_pitch;
msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
msg.m_wavId = audioSrc->m_userIndex;
msg.m_autoKeyOff = true;
m_data->m_soundEngine.startSound(soundSourceIndex,msg);
}
}
}
}
}
int linkIndexA = -1;
int linkIndexB = -1;
int objectIndexB = -1;
const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
if (bodyB)
{
objectIndexB = bodyB->getUserIndex2();
}
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
if (mblB && mblB->m_multiBody)
{
}
}
#endif//B3_ENABLE_TINY_AUDIO
}
@@ -1623,9 +1643,6 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
#ifdef B3_ENABLE_TINY_AUDIO
m_data->m_soundEngine.init(16,true);
m_data->m_wavIds[0] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox0.wav");
m_data->m_wavIds[1] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox1.wav");
m_data->m_wavIds[2] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox2.wav");
//we don't use those callbacks (yet), experimental
// gContactAddedCallback = MyContactAddedCallback;
@@ -2039,7 +2056,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -2111,6 +2127,22 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
}
createJointMotors(mb);
#ifdef B3_ENABLE_TINY_AUDIO
{
SDFAudioSource audioSource;
int urdfRootLink = u2b.getRootLinkIndex();//LinkIndex = creation.m_mb2urdfLink[-1];
if (u2b.getLinkAudioSource(urdfRootLink,audioSource))
{
int flags = mb->getBaseCollider()->getCollisionFlags();
mb->getBaseCollider()->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
if (audioSource.m_userIndex>=0)
{
bodyHandle->m_audioSources.insert(-1, audioSource);
}
}
}
#endif
//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
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
@@ -2130,6 +2162,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
for (int i=0;i<mb->getNumLinks();i++)
{
int link=i;
//disable serialization of the collision objects
util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0);
int urdfLinkIndex = creation.m_mb2urdfLink[i];
@@ -2148,8 +2181,23 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
m_data->m_strings.push_back(jointName);
util->m_memSerializer->registerNameForPointer(jointName->c_str(),jointName->c_str());
mb->getLink(i).m_jointName = jointName->c_str();
#ifdef B3_ENABLE_TINY_AUDIO
{
SDFAudioSource audioSource;
int urdfLinkIndex = creation.m_mb2urdfLink[link];
if (u2b.getLinkAudioSource(urdfLinkIndex,audioSource))
{
int flags = mb->getLink(link).m_collider->getCollisionFlags();
mb->getLink(i).m_collider->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
if (audioSource.m_userIndex>=0)
{
bodyHandle->m_audioSources.insert(link, audioSource);
}
}
}
}
#endif
std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
m_data->m_strings.push_back(baseName);