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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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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]);