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PyBullet: allow createVisualShape to pass vertices, indices, normals and uv coordinates. This can be combined with changeVisualShape to set the texture.

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This commit is contained in:
Erwin Coumans
2019-01-29 12:03:11 -08:00
parent 63683e8f02
commit b257bd731b
9 changed files with 522 additions and 12 deletions
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79
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1377,6 +1377,9 @@ B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3PhysicsClientHandle phy
{
indexUpload[i]=indices[i];
}
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numNormals = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numUVs = 0;
command->m_createUserShapeArgs.m_numUserShapes++;
cl->uploadBulletFileToSharedMemory(data, totalUploadSizeInBytes);
delete [] data;
@@ -1386,6 +1389,82 @@ B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3PhysicsClientHandle phy
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddMesh2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices, const double* normals, int numNormals, const double* uvs, int numUVs)
{
if (numUVs == 0 && numNormals == 0)
{
return b3CreateCollisionShapeAddConcaveMesh(physClient, commandHandle, meshScale, vertices, numVertices, indices, numIndices);
}
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex < MAX_COMPOUND_COLLISION_SHAPES && numVertices >= 0 && numIndices >= 0)
{
int i = 0;
if (numVertices>B3_MAX_NUM_VERTICES)
numVertices = B3_MAX_NUM_VERTICES;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = GEOM_FORCE_CONCAVE_TRIMESH;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileType = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName[0] = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numVertices = numVertices;
int totalUploadSizeInBytes = numVertices * sizeof(double) * 3 + numIndices * sizeof(int) + numNormals*sizeof(double)*3+numUVs*sizeof(double)*2;
char* data = new char[totalUploadSizeInBytes];
double* vertexUpload = (double*)data;
int* indexUpload = (int*)(data + numVertices * sizeof(double) * 3);
double* normalUpload = (double*)(data + numVertices * sizeof(double) * 3 + numIndices * sizeof(int));
double* uvUpload = (double*)(data + numVertices * sizeof(double) * 3 + numIndices * sizeof(int)+ numNormals * sizeof(double) * 3);
for (i = 0; i<numVertices; i++)
{
vertexUpload[i * 3 + 0] = vertices[i * 3 + 0];
vertexUpload[i * 3 + 1] = vertices[i * 3 + 1];
vertexUpload[i * 3 + 2] = vertices[i * 3 + 2];
}
if (numIndices>B3_MAX_NUM_INDICES)
numIndices = B3_MAX_NUM_INDICES;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numIndices = numIndices;
for (i = 0; i<numIndices; i++)
{
indexUpload[i] = indices[i];
}
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numNormals = numNormals;
for (i = 0; i < numNormals; i++)
{
normalUpload[i * 3 + 0] = normals[i * 3 + 0];
normalUpload[i * 3 + 1] = normals[i * 3 + 1];
normalUpload[i * 3 + 2] = normals[i * 3 + 2];
}
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numUVs = numUVs;
for (i = 0; i < numUVs; i++)
{
uvUpload[i * 2 + 0] = uvs[i * 2 + 0];
uvUpload[i * 2 + 1] = uvs[i * 2 + 1];
}
command->m_createUserShapeArgs.m_numUserShapes++;
cl->uploadBulletFileToSharedMemory(data, totalUploadSizeInBytes);
delete[] data;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/])
{
return b3CreateCollisionShapeAddMesh(commandHandle, fileName, meshScale);

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -486,6 +486,9 @@ extern "C"
B3_SHARED_API int b3CreateVisualShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
B3_SHARED_API int b3CreateVisualShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant);
B3_SHARED_API int b3CreateVisualShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]);
B3_SHARED_API int b3CreateVisualShapeAddMesh2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices, const double* normals, int numNormals, const double* uvs, int numUVs);
B3_SHARED_API void b3CreateVisualSetFlag(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, int flags);
B3_SHARED_API void b3CreateVisualShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/]);
B3_SHARED_API void b3CreateVisualShapeSetSpecularColor(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double specularColor[/*3*/]);

69
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2520,7 +2520,8 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
if (m_data->m_pluginManager.getRenderInterface())
{
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
m_data->m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId, fileIO);
int visualShapeUniqueid = m_data->m_pluginManager.getRenderInterface()->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, &link, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId, fileIO);
colObj->setUserIndex3(visualShapeUniqueid);
}
}
virtual void setBodyUniqueId(int bodyId)
@@ -4706,18 +4707,68 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
case URDF_GEOM_MESH:
{
std::string fileName = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshFileName;
const std::string& error_message_prefix = "";
std::string out_found_filename;
int out_type;
if (fileIO->findResourcePath(fileName.c_str(), relativeFileName, 1024))
if (fileName.length())
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
const std::string& error_message_prefix = "";
std::string out_found_filename;
int out_type;
if (fileIO->findResourcePath(fileName.c_str(), relativeFileName, 1024))
{
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
}
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
if (foundFile)
{
visualShape.m_geometry.m_meshFileType = out_type;
visualShape.m_geometry.m_meshFileName = fileName;
}
else
{
}
}
else
{
visualShape.m_geometry.m_meshFileType = UrdfGeometry::MEMORY_VERTICES;
int numVertices = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_numVertices;
int numIndices = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_numIndices;
int numUVs = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_numUVs;
int numNormals = clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_numNormals;
bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
visualShape.m_geometry.m_meshFileType = out_type;
visualShape.m_geometry.m_meshFileName = fileName;
if (numVertices > 0 && numIndices >0)
{
char* data = bufferServerToClient;
double* vertexUpload = (double*)data;
int* indexUpload = (int*)(data + numVertices * sizeof(double) * 3);
double* normalUpload = (double*)(data + numVertices * sizeof(double) * 3 + numIndices * sizeof(int));
double* uvUpload = (double*)(data + numVertices * sizeof(double) * 3 + numIndices * sizeof(int)+numNormals*sizeof(double)*3);
for (int i = 0; i < numIndices; i++)
{
visualShape.m_geometry.m_indices.push_back(indexUpload[i]);
}
for (int i = 0; i < numVertices; i++)
{
btVector3 v0(vertexUpload[i * 3 + 0],
vertexUpload[i * 3 + 1],
vertexUpload[i * 3 + 2]);
visualShape.m_geometry.m_vertices.push_back(v0);
}
for (int i = 0; i < numNormals; i++)
{
btVector3 normal(normalUpload[i * 3 + 0],
normalUpload[i * 3 + 1],
normalUpload[i * 3 + 2]);
visualShape.m_geometry.m_normals.push_back(normal);
}
for (int i = 0; i < numUVs; i++)
{
btVector3 uv(uvUpload[i * 2 + 0], uvUpload[i * 2 + 1],0);
visualShape.m_geometry.m_uvs.push_back(uv);
}
}
}
visualShape.m_geometry.m_meshScale.setValue(clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[0],
clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[1],
clientCmd.m_createUserShapeArgs.m_shapes[userShapeIndex].m_meshScale[2]);

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -932,6 +932,8 @@ struct b3CreateUserShapeData
int m_visualFlags;
int m_numVertices;
int m_numIndices;
int m_numUVs;
int m_numNormals;
double m_rgbaColor[4];
double m_specularColor[3];
};

43
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
View File

@@ -361,6 +361,49 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
{
case UrdfGeometry::MEMORY_VERTICES:
{
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
glmesh->m_vertices->resize(visual->m_geometry.m_vertices.size());
glmesh->m_indices->resize(visual->m_geometry.m_indices.size());
for (int i = 0; i < visual->m_geometry.m_vertices.size(); i++)
{
glmesh->m_vertices->at(i).xyzw[0] = visual->m_geometry.m_vertices[i].x();
glmesh->m_vertices->at(i).xyzw[1] = visual->m_geometry.m_vertices[i].y();
glmesh->m_vertices->at(i).xyzw[2] = visual->m_geometry.m_vertices[i].z();
glmesh->m_vertices->at(i).xyzw[3] = 1;
btVector3 normal(visual->m_geometry.m_vertices[i]);
if (visual->m_geometry.m_normals.size() == visual->m_geometry.m_vertices.size())
{
normal = visual->m_geometry.m_normals[i];
}
else
{
normal.safeNormalize();
}
btVector3 uv(0.5, 0.5, 0);
if (visual->m_geometry.m_uvs.size() == visual->m_geometry.m_vertices.size())
{
uv = visual->m_geometry.m_uvs[i];
}
glmesh->m_vertices->at(i).normal[0] = normal[0];
glmesh->m_vertices->at(i).normal[1] = normal[1];
glmesh->m_vertices->at(i).normal[2] = normal[2];
glmesh->m_vertices->at(i).uv[0] = uv[0];
glmesh->m_vertices->at(i).uv[1] = uv[1];
}
for (int i = 0; i < visual->m_geometry.m_indices.size(); i++)
{
glmesh->m_indices->at(i) = visual->m_geometry.m_indices[i];
}
glmesh->m_numIndices = visual->m_geometry.m_indices.size();
glmesh->m_numvertices = visual->m_geometry.m_vertices.size();
break;
}
case UrdfGeometry::FILE_OBJ: