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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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117
examples/pybullet/pybullet.c
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@@ -185,6 +185,34 @@ static int pybullet_internalSetVector(PyObject* objVec, float vector[3])
return 0;
}
// vector - double[2] which will be set by values from obVec
static int pybullet_internalSetVector2d(PyObject* obVec, double vector[2])
{
int i, len;
PyObject* seq;
if (obVec == NULL)
return 0;
seq = PySequence_Fast(obVec, "expected a sequence");
if (seq)
{
len = PySequence_Size(obVec);
assert(len == 2);
if (len == 2)
{
for (i = 0; i < len; i++)
{
vector[i] = pybullet_internalGetFloatFromSequence(seq, i);
}
Py_DECREF(seq);
return 1;
}
Py_DECREF(seq);
}
PyErr_Clear();
return 0;
}
// vector - double[3] which will be set by values from obVec
static int pybullet_internalSetVectord(PyObject* obVec, double vector[3])
{
@@ -6773,6 +6801,45 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe
return numVerticesOut;
}
static int extractUVs(PyObject* uvsObj, double* uvs, int maxNumVertices)
{
int numUVOut = 0;
if (uvsObj)
{
PyObject* seqVerticesObj = PySequence_Fast(uvsObj, "expected a sequence of uvs");
if (seqVerticesObj)
{
int numVerticesSrc = PySequence_Size(seqVerticesObj);
{
int i;
if (numVerticesSrc > B3_MAX_NUM_VERTICES)
{
PyErr_SetString(SpamError, "Number of uvs exceeds the maximum.");
Py_DECREF(seqVerticesObj);
return 0;
}
for (i = 0; i < numVerticesSrc; i++)
{
PyObject* vertexObj = PySequence_GetItem(seqVerticesObj, i);
double uv[2];
if (pybullet_internalSetVector2d(vertexObj, uv))
{
if (uvs)
{
uvs[numUVOut * 2 + 0] = uv[0];
uvs[numUVOut * 2 + 1] = uv[1];
}
numUVOut++;
}
}
}
}
}
return numUVOut;
}
static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
{
int numIndicesOut=0;
@@ -7183,9 +7250,14 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb
PyObject* halfExtentsObj = 0;
static char* kwlist[] = {"shapeType", "radius", "halfExtents", "length", "fileName", "meshScale", "planeNormal", "flags", "rgbaColor", "specularColor", "visualFramePosition", "visualFrameOrientation", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOi", kwlist,
&shapeType, &radius, &halfExtentsObj, &length, &fileName, &meshScaleObj, &planeNormalObj, &flags, &rgbaColorObj, &specularColorObj, &visualFramePositionObj, &visualFrameOrientationObj, &physicsClientId))
PyObject* verticesObj = 0;
PyObject* indicesObj = 0;
PyObject* normalsObj = 0;
PyObject* uvsObj = 0;
static char* kwlist[] = {"shapeType", "radius", "halfExtents", "length", "fileName", "meshScale", "planeNormal", "flags", "rgbaColor", "specularColor", "visualFramePosition", "visualFrameOrientation", "vertices", "indices", "normals", "uvs", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOOOOOi", kwlist,
&shapeType, &radius, &halfExtentsObj, &length, &fileName, &meshScaleObj, &planeNormalObj, &flags, &rgbaColorObj, &specularColorObj, &visualFramePositionObj, &visualFrameOrientationObj, &verticesObj, &indicesObj, &normalsObj, &uvsObj, &physicsClientId))
{
return NULL;
}
@@ -7228,6 +7300,45 @@ static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyOb
pybullet_internalSetVectord(meshScaleObj, meshScale);
shapeIndex = b3CreateVisualShapeAddMesh(commandHandle, fileName, meshScale);
}
if (shapeType == GEOM_MESH && verticesObj && indicesObj)
{
int numVertices = extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
int numIndices = extractIndices(indicesObj, 0, B3_MAX_NUM_INDICES);
int numNormals = extractVertices(normalsObj, 0, B3_MAX_NUM_VERTICES);
int numUVs = extractUVs(uvsObj, 0, B3_MAX_NUM_VERTICES);
double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
double* normals = numNormals ? malloc(numNormals * 3 * sizeof(double)) : 0;
double* uvs = numUVs ? malloc(numUVs * 2 * sizeof(double)) : 0;
numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
pybullet_internalSetVectord(meshScaleObj, meshScale);
if (indicesObj)
{
numIndices = extractIndices(indicesObj, indices, B3_MAX_NUM_INDICES);
}
if (numNormals)
{
extractVertices(normalsObj, normals, numNormals);
}
if (numUVs)
{
extractUVs(uvsObj, uvs, numUVs);
}
if (numIndices)
{
shapeIndex = b3CreateVisualShapeAddMesh2(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices, normals, numNormals, uvs, numUVs);
}
free(uvs);
free(normals);
free(vertices);
free(indices);
}
if (shapeType == GEOM_PLANE)
{
double planeConstant = 0;