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

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This commit is contained in:
Erwin Coumans
2017-03-13 11:02:10 -07:00
parent e36b7e02aa ca31bb2bbd
commit b088f7febe
7 changed files with 73 additions and 33 deletions
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66
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -427,47 +427,67 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
SimpleCamera tempCam;
getRenderInterface()->setActiveCamera(&tempCam);
getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
getRenderInterface()->renderScene();
{
BT_PROFILE("renderScene");
getRenderInterface()->renderScene();
}
getRenderInterface()->setActiveCamera(oldCam);
{
BT_PROFILE("copy pixels");
btAlignedObjectArray<unsigned char> sourceRgbaPixelBuffer;
btAlignedObjectArray<float> sourceDepthBuffer;
//copy the image into our local cache
sourceRgbaPixelBuffer.resize(sourceWidth*sourceHeight*numBytesPerPixel);
sourceDepthBuffer.resize(sourceWidth*sourceHeight);
m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
{
BT_PROFILE("getScreenPixels");
m_data->m_glApp->getScreenPixels(&(sourceRgbaPixelBuffer[0]),sourceRgbaPixelBuffer.size(), &sourceDepthBuffer[0],sizeof(float)*sourceDepthBuffer.size());
}
m_data->m_rgbaPixelBuffer1.resize(destinationWidth*destinationHeight*numBytesPerPixel);
m_data->m_depthBuffer1.resize(destinationWidth*destinationHeight);
//rescale and flip
for (int i=0;i<destinationWidth;i++)
{
for (int j=0;j<destinationHeight;j++)
{
int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
btClamp(xIndex,0,sourceWidth);
btClamp(yIndex,0,sourceHeight);
int bytesPerPixel = 4; //RGBA
{
BT_PROFILE("resize and flip");
for (int j=0;j<destinationHeight;j++)
{
for (int i=0;i<destinationWidth;i++)
{
int xIndex = int(float(i)*(float(sourceWidth)/float(destinationWidth)));
int yIndex = int(float(destinationHeight-1-j)*(float(sourceHeight)/float(destinationHeight)));
btClamp(xIndex,0,sourceWidth);
btClamp(yIndex,0,sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
int sourceDepthIndex = xIndex+yIndex*sourceWidth;
int sourcePixelIndex = (xIndex+yIndex*sourceWidth)*bytesPerPixel;
int sourceDepthIndex = xIndex+yIndex*sourceWidth;
#define COPY4PIXELS 1
#ifdef COPY4PIXELS
int* dst = (int*)&m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0];
int* src = (int*)&sourceRgbaPixelBuffer[sourcePixelIndex+0];
*dst = *src;
#else
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
#endif
if (depthBuffer)
{
m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
}
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+0] = sourceRgbaPixelBuffer[sourcePixelIndex+0];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+1] = sourceRgbaPixelBuffer[sourcePixelIndex+1];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+2] = sourceRgbaPixelBuffer[sourcePixelIndex+2];
m_data->m_rgbaPixelBuffer1[(i+j*destinationWidth)*4+3] = 255;
m_data->m_depthBuffer1[i+j*destinationWidth] = sourceDepthBuffer[sourceDepthIndex];
}
}
}
}
}
}
if (pixelsRGBA)
{
BT_PROFILE("copy rgba pixels");
for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
{
pixelsRGBA[i] = m_data->m_rgbaPixelBuffer1[i+startPixelIndex*numBytesPerPixel];
@@ -475,6 +495,8 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
}
if (depthBuffer)
{
BT_PROFILE("copy depth buffer pixels");
for (int i=0;i<numRequestedPixels;i++)
{
depthBuffer[i] = m_data->m_depthBuffer1[i+startPixelIndex];

2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -454,6 +454,7 @@ struct MinitaurStateLogger : public InternalStateLogger
m_logFileHandle(0),
m_minitaurMultiBody(minitaurMultiBody)
{
m_loggingUniqueId = loggingUniqueId;
m_loggingType = STATE_LOGGING_MINITAUR;
m_motorIdList.resize(motorIdList.size());
for (int m=0;m<motorIdList.size();m++)
@@ -578,6 +579,7 @@ struct GenericRobotStateLogger : public InternalStateLogger
m_filterObjectUniqueId(false),
m_maxLogDof(maxLogDof)
{
m_loggingUniqueId = loggingUniqueId;
m_loggingType = STATE_LOGGING_GENERIC_ROBOT;
btAlignedObjectArray<std::string> structNames;

4
examples/pybullet/pybullet.c
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@@ -5380,6 +5380,10 @@ 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, "ER_TINY_RENDERER", ER_TINY_RENDERER);
PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);
PyModule_AddIntConstant(m,"B3G_F1",B3G_F1);
PyModule_AddIntConstant(m,"B3G_F2",B3G_F2);
PyModule_AddIntConstant(m,"B3G_F3",B3G_F3);

3
examples/pybullet/testrender.py
View File

@@ -29,7 +29,8 @@ for pitch in range (0,360,10) :
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor)
#getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor,renderer=pybullet.ER_TINY_RENDERER)
w=img_arr[0]
h=img_arr[1]
rgb=img_arr[2]

17
examples/pybullet/testrender_np.py
View File

@@ -6,7 +6,7 @@ import matplotlib.pyplot as plt
import pybullet
import time
pybullet.connect(pybullet.DIRECT)
pybullet.connect(pybullet.GUI)
pybullet.loadURDF("r2d2.urdf")
camTargetPos = [0,0,0]
@@ -18,8 +18,8 @@ pitch = 10.0
roll=0
upAxisIndex = 2
camDistance = 4
pixelWidth = 1920
pixelHeight = 1080
pixelWidth = 1024
pixelHeight = 768
nearPlane = 0.01
farPlane = 1000
@@ -31,7 +31,7 @@ for pitch in range (0,360,10) :
viewMatrix = pybullet.computeViewMatrixFromYawPitchRoll(camTargetPos, camDistance, yaw, pitch, roll, upAxisIndex)
aspect = pixelWidth / pixelHeight;
projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, [0,1,0])
img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, [0,1,0],renderer=pybullet.ER_BULLET_HARDWARE_OPENGL)
stop = time.time()
print ("renderImage %f" % (stop - start))
@@ -40,13 +40,12 @@ for pitch in range (0,360,10) :
rgb=img_arr[2] #color data RGB
dep=img_arr[3] #depth data
print 'width = %d height = %d' % (w,h)
print ('width = %d height = %d' % (w,h))
#note that sending the data to matplotlib is really slow
#show
plt.imshow(rgb,interpolation='none')
#plt.show()
plt.pause(0.01)
plt.imshow(rgb,interpolation='none')
plt.pause(0.001)
main_stop = time.time()

13
examples/pybullet/vrhand.py
View File

@@ -53,15 +53,28 @@ def convertSensor(x):
b = (v-minV)/float(maxV-minV)
return (1.0-b)
controllerId = -1
serialSteps = 0
serialStepsUntilCheckVREvents = 3
ser = serial.Serial(port='COM9',baudrate=115200,parity=serial.PARITY_ODD,stopbits=serial.STOPBITS_TWO,bytesize=serial.SEVENBITS)
if (ser.isOpen()):
while True:
events = p.getVREvents()
for e in (events):
if (e[BUTTONS][33]&p.VR_BUTTON_IS_DOWN):
controllerId = e[0]
if (e[0] == controllerId):
p.changeConstraint(hand_cid,e[POSITION],e[ORIENTATION], maxForce=50)
serialSteps = 0
while ser.inWaiting() > 0:
serialSteps=serialSteps+1
if (serialSteps>serialStepsUntilCheckVREvents):
ser.flushInput()
break
line = str(ser.readline())
words = line.split(",")
if (len(words)==6):