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

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -427,24 +427,32 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
 			SimpleCamera tempCam;
 			getRenderInterface()->setActiveCamera(&tempCam);
 			getRenderInterface()->getActiveCamera()->setVRCamera(viewMatrix,projectionMatrix);
+			{
+				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);
+				{
+					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++)
 				{
+					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)));
@@ -454,20 +462,32 @@ void OpenGLGuiHelper::copyCameraImageData(const float viewMatrix[16], const floa
                         
 							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];
+							}
                         
 						}
 					}
                 }
             }
+        }
         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];

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -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;

examples/pybullet/pybullet.c

@@ -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);

examples/pybullet/testrender.py

@@ -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]

examples/pybullet/testrender_np.py

@@ -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
+pixelWidth = 1024
-pixelHeight = 1080
+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(0.001)
-    plt.pause(0.01)
 
 main_stop = time.time()
 

examples/pybullet/vrhand.py

@@ -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):

src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h

@@ -124,7 +124,6 @@ public:
 	btCollisionShape* getCollisionShapeByIndex(int index);
 	int getNumRigidBodies() const;
 	btCollisionObject* getRigidBodyByIndex(int index) const;
-	int getNumConstraints() const;
 
 	int getNumBvhs() const;
 	btOptimizedBvh*  getBvhByIndex(int index) const;