Merge pull request #1206 from erwincoumans/master

Allow to create concave collision meshes. Transparency (only OpenGL 3.x renderer, not tinyrenderer/gl2)

data/racecar/racecar_differential.urdf

@@ -20,12 +20,12 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="meshes/chassis_differential.STL"/>
+        <mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
       </geometry>
       <material name="blue"/>
     </collision>
     <inertial>
-      <origin rpy="0 0 0" xyz="0.1477 0 0"/>
+      <origin rpy="0 0 0" xyz="0.2 0 0."/>
       <mass value="4.0"/>
       <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
     </inertial>
@@ -33,14 +33,14 @@
   <!-- Add the left rear wheel with its joints and tranmissions -->
   <link name="left_rear_wheel">
     <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value=".5"/>
       <rolling_friction value="0.0"/>
       <stiffness value="30000"/>
       <damping value="1000"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
-      <mass value="0.034055"/>
+      <mass value="0.34055"/>
       <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
     </inertial>
     <visual>
@@ -66,14 +66,14 @@
   <!-- Add the right rear wheel with its joints and tranmissions -->
   <link name="right_rear_wheel">
 <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value=".5"/>
       <rolling_friction value="0.0"/>
       <stiffness value="30000"/>
       <damping value="1000"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
-      <mass value="0.034055"/>
+      <mass value="0.34055"/>
       <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
     </inertial>
     <visual>
@@ -163,14 +163,14 @@
   <!-- Add the left front wheel with its joints and tranmissions -->
   <link name="left_front_wheel">
 <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value=".8"/>
       <rolling_friction value="0.0"/>
       <stiffness value="30000"/>
       <damping value="1000"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 -0.0225"/>
-      <mass value="0.034055"/>
+      <mass value="0.34055"/>
       <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
     </inertial>
     <visual>
@@ -207,14 +207,14 @@
   <!-- Add the left front wheel with its joints and tranmissions -->
   <link name="right_front_wheel">
 <contact>
-      <lateral_friction value="1.0"/>
+      <lateral_friction value="0.8"/>
       <rolling_friction value="0.0"/>
       <stiffness value="30000"/>
       <damping value="1000"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0.0225"/>
-      <mass value="0.034055"/>
+      <mass value="0.34055"/>
       <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
     </inertial>
     <visual>
@@ -533,7 +533,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.5637"/>
+      <mass value="0.0637"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
@@ -573,7 +573,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.556"/>
+      <mass value="0.056"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
@@ -612,7 +612,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.556"/>
+      <mass value="0.056"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
@@ -650,7 +650,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.556"/>
+      <mass value="0.056"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>
@@ -686,7 +686,7 @@
     </contact>
     
     <inertial>
-      <mass value="0.556"/>
+      <mass value="0.056"/>
       <origin xyz="0 0 0"/>
       <inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
     </inertial>

data/sphere_transparent.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <rolling_friction value="0.03"/>
+      <spinning_friction value="0.03"/>
+    </contact>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
+      </geometry>
+      <material name="red_transparent">
+        <color rgba="1 0 0 0.5"/>
+        <specular rgb="11 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

examples/Collision/CollisionTutorialBullet2.cpp

@@ -79,7 +79,6 @@ public:
 		
 		gTotalPoints = 0;
 		m_app->setUpAxis(1);
-		m_app->m_renderer->enableBlend(true);
 		
 		switch (m_tutorialIndex)
 		{
@@ -250,7 +249,6 @@ public:
 
 		m_timeSeriesCanvas0 = 0;
 
-		m_app->m_renderer->enableBlend(false);
     }
     
     

examples/CommonInterfaces/CommonRenderInterface.h

@@ -86,7 +86,7 @@ struct CommonRenderInterface
     virtual int getTotalNumInstances() const = 0;
     
 	virtual void writeTransforms()=0;
-    virtual void enableBlend(bool blend)=0;
+    
 	virtual void clearZBuffer()=0;
 
 	//This is internal access to OpenGL3+ features, mainly used for OpenCL-OpenGL interop

examples/InverseKinematics/InverseKinematicsExample.cpp

@@ -198,7 +198,6 @@ public:
     }
     virtual ~InverseKinematicsExample()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     

examples/MultiThreading/MultiThreadingExample.cpp

@@ -176,14 +176,12 @@ public:
 		//int numBodies = 1;
 		
 		m_app->setUpAxis(1);
-		m_app->m_renderer->enableBlend(true);
 		
     }
     virtual ~MultiThreadingExample()
     {
 
 
-		m_app->m_renderer->enableBlend(false);
     }
     
    

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -115,6 +115,10 @@ static InternalDataRenderer* sData2;
 
 GLint lineWidthRange[2]={1,1};
 
+enum
+{
+	eGfxTransparency=1
+};
 struct b3GraphicsInstance
 {
 	GLuint               m_cube_vao;
@@ -124,6 +128,7 @@ struct b3GraphicsInstance
 	int m_numIndices;
 	int m_numVertices;
 
+	
 	int m_numGraphicsInstances;
 	b3AlignedObjectArray<int> m_tempObjectUids;
 	int m_instanceOffset;
@@ -131,6 +136,7 @@ struct b3GraphicsInstance
 	int	m_primitiveType;
 	float m_materialShinyNess;
 	b3Vector3 m_materialSpecularColor;
+	int m_flags;//transparency etc
 
 	b3GraphicsInstance()
 	:m_cube_vao(-1),
@@ -143,7 +149,8 @@ struct b3GraphicsInstance
 		m_vertexArrayOffset(0),
 		m_primitiveType(B3_GL_TRIANGLES),
 		m_materialShinyNess(41),
-		m_materialSpecularColor(b3MakeVector3(.5,.5,.5))
+		m_materialSpecularColor(b3MakeVector3(.5,.5,.5)),
+		m_flags(0)
 	{
 	}
 
@@ -324,8 +331,7 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
 	m_textureinitialized(false),
 	m_screenWidth(0),
 	m_screenHeight(0),
-	m_upAxis(1),
+	m_upAxis(1)
-    m_enableBlend(false)
 {
 
 	m_data = new InternalDataRenderer;
@@ -865,6 +871,10 @@ int GLInstancingRenderer::registerGraphicsInstanceInternal(int newUid, const flo
 		m_data->m_instance_scale_ptr[index*3+1] = scaling[1];
 		m_data->m_instance_scale_ptr[index*3+2] = scaling[2];
 
+		if (color[3]<1 && color[3]>0)
+		{
+			gfxObj->m_flags |= eGfxTransparency;
+		}
 		gfxObj->m_numGraphicsInstances++;
 		m_data->m_totalNumInstances++;
 	} else
@@ -1898,7 +1908,24 @@ void GLInstancingRenderer::drawLine(const float from[4], const float to[4], cons
 	glUseProgram(0);
 }
 
+struct SortableTransparentInstance
+{
+	int m_shapeIndex;
+	int m_instanceId;
+	b3Vector3 m_centerPosition;
+};
 
+struct TransparentDistanceSortPredicate
+{
+	b3Vector3 m_camForwardVec;
+
+	inline bool operator() (const SortableTransparentInstance& a, const SortableTransparentInstance& b) const 
+	{
+		b3Scalar projA = a.m_centerPosition.dot(m_camForwardVec);
+		b3Scalar projB = b.m_centerPosition.dot(m_camForwardVec);
+		return (projA > projB);
+	}
+};
 
 void GLInstancingRenderer::renderSceneInternal(int renderMode)
 {
@@ -2019,9 +2046,9 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 	b3Vector3 center = b3MakeVector3(0,0,0);
 	//float upf[3];
 	//m_data->m_activeCamera->getCameraUpVector(upf);
-	b3Vector3 up, fwd;
+	b3Vector3 up, lightFwd;
 	b3Vector3 lightDir = m_data->m_lightPos.normalized();
-	b3PlaneSpace1(lightDir,up,fwd);
+	b3PlaneSpace1(lightDir,up,lightFwd);
 //	b3Vector3 up = b3MakeVector3(upf[0],upf[1],upf[2]);
 	b3CreateLookAt(m_data->m_lightPos,center,up,&depthViewMatrix[0][0]);
 	//b3CreateLookAt(lightPos,m_data->m_cameraTargetPosition,b3Vector3(0,1,0),(float*)depthModelViewMatrix2);
@@ -2082,15 +2109,75 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
 	}
 	
+	b3AlignedObjectArray<SortableTransparentInstance> transparentInstances;
+	
+	{
 		int curOffset = 0;
 		//GLuint lastBindTexture = 0;
 
+		transparentInstances.reserve(totalNumInstances);
 
-	for (int i=0;i<m_graphicsInstances.size();i++)
+		for (int obj=0;obj<m_graphicsInstances.size();obj++)
+		{
+			b3GraphicsInstance* gfxObj = m_graphicsInstances[obj];
+			if (gfxObj->m_numGraphicsInstances)
+			{
+				SortableTransparentInstance inst;
+									
+				inst.m_shapeIndex = obj;
+			
+			
+				if ((gfxObj->m_flags&eGfxTransparency)==0)
+				{
+					inst.m_instanceId = curOffset;
+					inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
+								m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
+								m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+					inst.m_centerPosition *= -1;//reverse sort opaque instances
+					transparentInstances.push_back(inst);
+				} else
+				{
+					for (int i=0;i<gfxObj->m_numGraphicsInstances;i++)
+					{
+						inst.m_instanceId = curOffset+i;
+						inst.m_centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
+										m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
+										m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+						transparentInstances.push_back(inst);
+					}
+				}
+				curOffset+=gfxObj->m_numGraphicsInstances;
+			}
+		}
+		TransparentDistanceSortPredicate sorter;
+		float fwd[3];
+		m_data->m_activeCamera->getCameraForwardVector(fwd);
+		sorter.m_camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
+		transparentInstances.quickSort(sorter);
+	}
+
+	
+	//two passes: first for opaque instances, second for transparent ones.
+	for (int pass = 0; pass<2;pass++)
+	{
+		for (int i=0;i<transparentInstances.size();i++)
 		{
 
-		b3GraphicsInstance* gfxObj = m_graphicsInstances[i];
+			int shapeIndex = transparentInstances[i].m_shapeIndex;
-		if (gfxObj->m_numGraphicsInstances)
+
+			b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
+			
+			//only draw stuff (opaque/transparent) if it is the right pass
+			int drawThisPass = (pass==0) == ((gfxObj->m_flags&eGfxTransparency)==0);
+
+			//transparent objects don't cast shadows (to simplify things)
+			if (gfxObj->m_flags&eGfxTransparency) 
+			{
+				if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE)
+					drawThisPass = 0;
+			}
+			
+			if (drawThisPass && gfxObj->m_numGraphicsInstances)
 			{
 				glActiveTexture(GL_TEXTURE0);
 				GLuint curBindTexture = 0;
@@ -2099,20 +2186,20 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 				else
 					curBindTexture = m_data->m_defaultTexturehandle;
 
-//disable lazy evaluation, it just leads to bugs
+	//disable lazy evaluation, it just leads to bugs
 				//if (lastBindTexture != curBindTexture)
 				{
 					glBindTexture(GL_TEXTURE_2D,curBindTexture);
 				}
 				//lastBindTexture = curBindTexture;
 
-b3Assert(glGetError() ==GL_NO_ERROR);
+			b3Assert(glGetError() ==GL_NO_ERROR);
 		//	int myOffset = gfxObj->m_instanceOffset*4*sizeof(float);
 
 			int POSITION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
 			int ORIENTATION_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
 			int COLOR_BUFFER_SIZE = (totalNumInstances*sizeof(float)*4);
-//		int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
+	//		int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
 
 			glBindVertexArray(gfxObj->m_cube_vao);
 
@@ -2123,8 +2210,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 
 
 			glVertexAttribPointer(0, 4, GL_FLOAT, GL_FALSE, 9*sizeof(float), vertex.m_pointer);
-		glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
+			glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
-		glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
+			glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
 
 			PointerCaster uv;
 			uv.m_baseIndex = 7*sizeof(float)+vertex.m_baseIndex;
@@ -2134,8 +2221,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 
 			glVertexAttribPointer(3, 2, GL_FLOAT, GL_FALSE, 9*sizeof(float), uv.m_pointer);
 			glVertexAttribPointer(4, 3, GL_FLOAT, GL_FALSE, 9*sizeof(float), normal.m_pointer);
-		glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
+			glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
-		glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
+			glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(transparentInstances[i].m_instanceId*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
 
 			glEnableVertexAttribArray(0);
 			glEnableVertexAttribArray(1);
@@ -2175,10 +2262,10 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 						  b3Assert(glGetError() ==GL_NO_ERROR);
 						  glPointSize(20);
 
-#ifndef __APPLE__
+	#ifndef __APPLE__
 						glEnable(GL_POINT_SPRITE_ARB);
-//					glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE);
+	//					glTexEnvi(GL_POINT_SPRITE_ARB, GL_COORD_REPLACE_ARB, GL_TRUE);
-#endif
+	#endif
 
 						glEnable(GL_VERTEX_PROGRAM_POINT_SIZE);
 						glDrawElementsInstanced(GL_POINTS, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
@@ -2189,6 +2276,13 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 
 						case B3_DEFAULT_RENDERMODE:
 							{
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									glDepthMask(false);
+									glEnable (GL_BLEND);
+									glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+								}
+
 								glUseProgram(instancingShader);
 								glUniformMatrix4fv(ProjectionMatrix, 1, false, &m_data->m_projectionMatrix[0]);
 								glUniformMatrix4fv(ModelViewMatrix, 1, false, &m_data->m_viewMatrix[0]);
@@ -2198,18 +2292,33 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 								glUniform3f(regularLightDirIn,gLightDir[0],gLightDir[1],gLightDir[2]);
 
 								glUniform1i(uniform_texture_diffuse, 0);
+
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									
+									int instanceId = transparentInstances[i].m_instanceId;
+									glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
+									glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
+									glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
+									glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
+
+									glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
+									
+								} else
+								{
 									glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
+								}
+                            
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									glDisable (GL_BLEND);
+									glDepthMask(true);
+								}
+								
 								break;
 							}
 							case B3_CREATE_SHADOWMAP_RENDERMODE:
 							{
-                            /*printf("createShadowMapInstancingShader=%d\n",createShadowMapInstancingShader);
-                            printf("createShadow_depthMVP=%d\n",createShadow_depthMVP);
-                            printf("indexOffset=%d\n",indexOffset);
-                            printf("gfxObj->m_numGraphicsInstances=%d\n",gfxObj->m_numGraphicsInstances);
-                            printf("indexCount=%d\n",indexCount);
-				*/
-
 								glUseProgram(createShadowMapInstancingShader);
 								glUniformMatrix4fv(createShadow_depthMVP, 1, false, &depthMVP[0][0]);
 								glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
@@ -2218,8 +2327,9 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 
 						case B3_USE_SHADOWMAP_RENDERMODE:
 							{
-                            if (m_enableBlend)
+								if ( gfxObj->m_flags&eGfxTransparency)
 								{
+									glDepthMask(false);
 									glEnable (GL_BLEND);
 									glBlendFunc (GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
 								}
@@ -2249,10 +2359,28 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 								glActiveTexture(GL_TEXTURE1);
 								glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
 								glUniform1i(useShadow_shadowMap,1);
+							
+								//sort transparent objects
+							
+								//gfxObj->m_instanceOffset
+
+								if ( gfxObj->m_flags&eGfxTransparency)
+								{
+									int instanceId = transparentInstances[i].m_instanceId;
+									glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes));
+									glVertexAttribPointer(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
+									glVertexAttribPointer(5, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE));
+									glVertexAttribPointer(6, 3, GL_FLOAT, GL_FALSE, 0, (GLvoid *)((instanceId)*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
+									glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
+								} else
+								{
 									glDrawElementsInstanced(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, indexOffset, gfxObj->m_numGraphicsInstances);
-                            if (m_enableBlend)
+								}
+                            
+								if ( gfxObj->m_flags&eGfxTransparency)
 								{
 									glDisable (GL_BLEND);
+									glDepthMask(true);
 								}
 								glActiveTexture(GL_TEXTURE1);
 								glBindTexture(GL_TEXTURE_2D,0);
@@ -2272,7 +2400,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 					//glDrawElementsInstanced(GL_LINE_LOOP, indexCount, GL_UNSIGNED_INT, (void*)indexOffset, gfxObj->m_numGraphicsInstances);
 				}
 			}
-		curOffset+= gfxObj->m_numGraphicsInstances;
+		}
 	}
 
 	{

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -39,7 +39,7 @@ class GLInstancingRenderer : public CommonRenderInterface
 	int m_screenHeight;
 	
 	int m_upAxis;
-    bool m_enableBlend;
+    
     
 	int registerGraphicsInstanceInternal(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
 	void rebuildGraphicsInstances();
@@ -147,10 +147,7 @@ public:
 	virtual int getTotalNumInstances() const;
 	
 	virtual void enableShadowMap();
-    virtual void enableBlend(bool blend)
+    
-    {
-        m_enableBlend = blend;
-    }
 	virtual void clearZBuffer();
 
 	virtual void setRenderFrameBuffer(unsigned int renderFrameBuffer);

examples/OpenGLWindow/SimpleCamera.cpp

@@ -234,8 +234,15 @@ void SimpleCamera::update()
 
 	b3Vector3 eyePos = b3MakeVector3(0,0,0);
 	eyePos[forwardAxis] = -m_data->m_cameraDistance;
+	eyePos = b3Matrix3x3(eyeRot)*eyePos;
 
-	m_data->m_cameraForward = b3MakeVector3(eyePos[0],eyePos[1],eyePos[2]);
+	m_data->m_cameraPosition = eyePos;
+
+	
+
+	m_data->m_cameraPosition+= m_data->m_cameraTargetPosition;
+
+	m_data->m_cameraForward = m_data->m_cameraTargetPosition-m_data->m_cameraPosition;
 	if (m_data->m_cameraForward.length2() < B3_EPSILON)
 	{
 		m_data->m_cameraForward.setValue(1.f,0.f,0.f);
@@ -243,12 +250,6 @@ void SimpleCamera::update()
 	{
 		m_data->m_cameraForward.normalize();
 	}
-	
-	eyePos = b3Matrix3x3(eyeRot)*eyePos;
-
-	m_data->m_cameraPosition = eyePos;
-	m_data->m_cameraPosition+= m_data->m_cameraTargetPosition;
-
 }
 
 void SimpleCamera::getCameraProjectionMatrix(float projectionMatrix[16]) const

examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp

@@ -676,9 +676,6 @@ void SimpleOpenGL2Renderer::updateShape(int shapeIndex, const float* vertices)
 	}
 }
 
-void SimpleOpenGL2Renderer::enableBlend(bool blend)
-{
-}
 
 void SimpleOpenGL2Renderer::clearZBuffer()
 {

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -83,7 +83,6 @@ public:
     
     virtual void updateShape(int shapeIndex, const float* vertices);
     
-    virtual void enableBlend(bool blend);
     
 	virtual void clearZBuffer();
 

examples/RenderingExamples/CoordinateSystemDemo.cpp

@@ -37,7 +37,6 @@ public:
     }
     virtual ~CoordinateSystemDemo()
     {
-        m_app->m_renderer->enableBlend(false);
     }
     
     

examples/RenderingExamples/DynamicTexturedCubeDemo.cpp

@@ -66,7 +66,6 @@ public:
     virtual ~DynamicTexturedCubeDemo()
     {
 		delete m_tinyVrGUI;
-        m_app->m_renderer->enableBlend(false);
     }
 
     

examples/RenderingExamples/RenderInstancingDemo.cpp

@@ -68,7 +68,6 @@ public:
     }
     virtual ~RenderInstancingDemo()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     

examples/RenderingExamples/TinyRendererSetup.cpp

@@ -154,7 +154,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
 	m_app = gui->getAppInterface();
 	m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight());
 	
-	m_app->m_renderer->enableBlend(true);
     
 	const char* fileName = "textured_sphere_smooth.obj";
     fileName = "cube.obj";
@@ -225,7 +224,6 @@ TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
 
 TinyRendererSetup::~TinyRendererSetup()
 {
-	m_app->m_renderer->enableBlend(false);
 	delete m_internalData;
 }
 

examples/RoboticsLearning/GripperGraspExample.cpp

@@ -45,7 +45,6 @@ public:
     }
     virtual ~GripperGraspExample()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     

examples/RoboticsLearning/KukaGraspExample.cpp

@@ -54,7 +54,6 @@ public:
     }
     virtual ~KukaGraspExample()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     

examples/RoboticsLearning/R2D2GraspExample.cpp

@@ -41,7 +41,6 @@ public:
     }
     virtual ~R2D2GraspExample()
     {
-        m_app->m_renderer->enableBlend(false);
     }
 
     

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -733,6 +733,7 @@ int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle commandHandle,do
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_SPHERE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_sphereRadius = radius;
 			command->m_createCollisionShapeArgs.m_numCollisionShapes++;
@@ -753,6 +754,7 @@ int b3CreateCollisionShapeAddBox(b3SharedMemoryCommandHandle commandHandle,doubl
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_BOX;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[0] = halfExtents[0];
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_boxHalfExtents[1] = halfExtents[1];
@@ -775,6 +777,7 @@ int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle,d
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CAPSULE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
@@ -796,6 +799,7 @@ int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle,
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_CYLINDER;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleRadius = radius;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_capsuleHeight = height;
@@ -818,6 +822,7 @@ int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, do
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_PLANE;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[0] = planeNormal[0];
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_planeNormal[1] = planeNormal[1];
@@ -841,6 +846,7 @@ int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,cons
 		if (shapeIndex <MAX_COMPOUND_COLLISION_SHAPES && strlen(fileName)<VISUAL_SHAPE_MAX_PATH_LEN)
 		{
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_type = GEOM_MESH;
+			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
 			strcpy(command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshFileName,fileName);
 			command->m_createCollisionShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
@@ -856,6 +862,7 @@ int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle,cons
 
 void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle,int shapeIndex, int flags)
 {
+	
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
     b3Assert(command);
     b3Assert(command->m_type == CMD_CREATE_COLLISION_SHAPE);
@@ -1942,6 +1949,20 @@ int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHa
 	return 0;
 }
 
+int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_USER_CONSTRAINT);
+	b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
+	
+	command->m_updateFlags |=USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK;
+	command->m_userConstraintArguments.m_gearAuxLink = gearAuxLink;
+
+	return 0;
+}
+
+
 b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
 {
 	 PhysicsClient* cl = (PhysicsClient* ) physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -107,7 +107,7 @@ int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHan
 int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
 int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
 int b3InitChangeUserConstraintSetGearRatio(b3SharedMemoryCommandHandle commandHandle, double gearRatio);
-
+int b3InitChangeUserConstraintSetGearAuxLink(b3SharedMemoryCommandHandle commandHandle, int gearAuxLink);
 
 b3SharedMemoryCommandHandle  b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -14,7 +14,7 @@
 #include "../Importers/ImportURDFDemo/UrdfParser.h"
 #include "../Utils/b3ResourcePath.h"
 #include "Bullet3Common/b3FileUtils.h"
-
+#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
 #include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -3704,9 +3704,60 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									if (out_type==UrdfGeometry::FILE_OBJ)
 									{
+										//create a convex hull for each shape, and store it in a btCompoundShape
+
+										if (clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_collisionFlags&GEOM_FORCE_CONCAVE_TRIMESH)
+										{
+											GLInstanceGraphicsShape* glmesh = LoadMeshFromObj(relativeFileName, pathPrefix);
+											
+											if (!glmesh || glmesh->m_numvertices<=0)
+											{
+												b3Warning("%s: cannot extract mesh from '%s'\n", pathPrefix, relativeFileName);
+												delete glmesh;
+												break;
+											}
+											btAlignedObjectArray<btVector3> convertedVerts;
+											convertedVerts.reserve(glmesh->m_numvertices);
+											btVector3 meshScale(clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[0],
+												clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[1],
+												clientCmd.m_createCollisionShapeArgs.m_shapes[i].m_meshScale[2]);
+
+											for (int i=0; i<glmesh->m_numvertices; i++)
+											{
+												convertedVerts.push_back(btVector3(
+													glmesh->m_vertices->at(i).xyzw[0]*meshScale[0],
+													glmesh->m_vertices->at(i).xyzw[1]*meshScale[1],
+													glmesh->m_vertices->at(i).xyzw[2]*meshScale[2]));
+											}
+
+											BT_PROFILE("convert trimesh");
+											btTriangleMesh* meshInterface = new btTriangleMesh();
+											{
+												BT_PROFILE("convert vertices");
+
+												for (int i=0; i<glmesh->m_numIndices/3; i++)
+												{
+													const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
+													const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
+													const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
+													meshInterface->addTriangle(v0,v1,v2);
+												}
+											}
+											{
+												BT_PROFILE("create btBvhTriangleMeshShape");
+												btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
+												//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
+												shape = trimesh;
+												if (compound)
+												{
+													compound->addChildShape(childTransform,shape);
+												}
+											}
+										} else
+										{
+
 											std::vector<tinyobj::shape_t> shapes;
 											std::string err = tinyobj::LoadObj(shapes,out_found_filename.c_str());
-										//create a convex hull for each shape, and store it in a btCompoundShape
 
 											//shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
 											//static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
@@ -3751,6 +3802,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 											}
 										}
 									}
+								}
 								break;
 							}
 							default:
@@ -6398,6 +6450,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									userConstraintPtr->m_mbConstraint->setGearRatio(clientCmd.m_userConstraintArguments.m_gearRatio);
 								}
+								if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK)
+								{
+									userConstraintPtr->m_mbConstraint->setGearAuxLink(clientCmd.m_userConstraintArguments.m_gearAuxLink);
+								}
 
 							}
 							if (userConstraintPtr->m_rbConstraint)

examples/SharedMemory/SharedMemoryCommands.h

@@ -645,6 +645,8 @@ enum EnumUserConstraintFlags
 	USER_CONSTRAINT_CHANGE_MAX_FORCE=32,
 	USER_CONSTRAINT_REQUEST_INFO=64,
 	USER_CONSTRAINT_CHANGE_GEAR_RATIO=128,	
+	USER_CONSTRAINT_CHANGE_GEAR_AUX_LINK=256,	
+
 };
 
 enum EnumBodyChangeFlags

examples/SharedMemory/SharedMemoryPublic.h

@@ -235,6 +235,7 @@ struct b3UserConstraint
     double m_maxAppliedForce;
     int m_userConstraintUniqueId;
 	double m_gearRatio;
+	int m_gearAuxLink;
 
 };
 

examples/Tutorial/Tutorial.cpp

@@ -300,7 +300,6 @@ public:
 		int numBodies = 1;
 		
 		m_app->setUpAxis(1);
-		m_app->m_renderer->enableBlend(true);
 		
 		switch (m_tutorialIndex)
 		{
@@ -405,7 +404,7 @@ public:
 			{
 				int width,height,n;
 				
-				const char* filename = "data/cube.png";
+				const char* filename = "data/checker_huge.gif";
 				const unsigned char* image=0;
 				
 				const char* prefix[]={"./","../","../../","../../../","../../../../"};
@@ -426,15 +425,23 @@ public:
 			}
 			
 			//            int boxId = m_app->registerCubeShape(1,1,1,textureIndex);
-			int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
+			int sphereTransparent = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
-			b3Vector4 color = b3MakeVector4(1,1,1,0.8);
+			int sphereOpaque= m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
+			
 			b3Vector3 scaling = b3MakeVector3(SPHERE_RADIUS,SPHERE_RADIUS,SPHERE_RADIUS);
 			for (int i=0;i<m_bodies.size();i++)
 			{
+				int gfxShape = sphereOpaque;
+				b3Vector4 color = b3MakeVector4(.1,.1,1,1);
+				if (i%2)
+				{
+					color.setValue(1,.1,.1,0.1);
+					gfxShape = sphereTransparent;
+				}
 				m_bodies[i]->m_collisionShape.m_sphere.m_radius = SPHERE_RADIUS;
 				m_bodies[i]->m_collisionShape.m_type = LW_SPHERE_TYPE;
 				
-				m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling);
+				m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(gfxShape,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling);
 				m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
 			}
 		}
@@ -467,7 +474,6 @@ public:
 		m_timeSeriesCanvas0 = 0;
 		m_timeSeriesCanvas1 = 0;
 
-		m_app->m_renderer->enableBlend(false);
     }
     
     

examples/pybullet/examples/createMultiBodyLinks.py

@@ -49,5 +49,8 @@ for i in range (p.getNumJoints(sphereUid)):
 	p.getJointInfo(sphereUid,i)
 	
 while (1):
+	keys = p.getKeyboardEvents()
+	print(keys)
+
 	time.sleep(0.01)
 	

examples/pybullet/examples/createSphereMultiBodies.py

@@ -4,7 +4,11 @@ import time
 useMaximalCoordinates = 0
 
 p.connect(p.GUI)
-p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
+#p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
+monastryId = concaveEnv =p.createCollisionShape(p.GEOM_MESH,fileName="samurai_monastry.obj",flags=p.GEOM_FORCE_CONCAVE_TRIMESH)
+orn = p.getQuaternionFromEuler([1.5707963,0,0])
+p.createMultiBody (0,monastryId, baseOrientation=orn)
+
 sphereRadius = 0.05
 colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
 colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])
@@ -28,5 +32,7 @@ p.setGravity(0,0,-10)
 p.setRealTimeSimulation(1)
 
 while (1):
+	keys = p.getKeyboardEvents()
+	#print(keys)
 	time.sleep(0.01)
 	

examples/pybullet/examples/racecar_differential.py

@@ -7,16 +7,15 @@ if (cid<0):
 	
 p.resetSimulation()
 p.setGravity(0,0,-10)
-p.setPhysicsEngineParameter(numSolverIterations=1000)
 useRealTimeSim = 1
 
 #for video recording (works best on Mac and Linux, not well on Windows)
 #p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
 p.setRealTimeSimulation(useRealTimeSim) # either this
-#p.loadURDF("plane.urdf")
+p.loadURDF("plane.urdf")
-p.loadSDF("stadium.sdf")
+#p.loadSDF("stadium.sdf")
 
-car = p.loadURDF("racecar/racecar_differential.urdf")#, [0,0,2],useFixedBase=True)
+car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
 for i in range (p.getNumJoints(car)):
 	print (p.getJointInfo(car,i))
 for wheel in range(p.getNumJoints(car)):
@@ -27,7 +26,6 @@ wheels = [8,15]
 print("----------------")
 
 #p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
-
 c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=1, maxForce=10000)
 
@@ -40,12 +38,17 @@ p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=1, maxForce=10000)
 
-c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
-p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 
 c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
 p.changeConstraint(c,gearRatio=-1, maxForce=10000)
 
+c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
+c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
 
 
 steering = [0,2]

examples/pybullet/examples/transparent.py

@@ -0,0 +1,18 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+p.loadURDF("plane.urdf")
+sphereUid = p.loadURDF("sphere_transparent.urdf",[0,0,2])
+
+redSlider = p.addUserDebugParameter("red",0,1,1)
+greenSlider = p.addUserDebugParameter("green",0,1,0)
+blueSlider = p.addUserDebugParameter("blue",0,1,0)
+alphaSlider = p.addUserDebugParameter("alpha",0,1,0.5)
+
+while (1):
+	red = p.readUserDebugParameter(redSlider)
+	green = p.readUserDebugParameter(greenSlider)
+	blue = p.readUserDebugParameter(blueSlider)
+	alpha = p.readUserDebugParameter(alphaSlider)
+	p.changeVisualShape(sphereUid,-1,rgbaColor=[red,green,blue,alpha])
+	time.sleep(0.01)

examples/pybullet/examples/vr_racecar_differential.py

@@ -0,0 +1,93 @@
+import pybullet as p
+import time
+CONTROLLER_ID = 0
+POSITION=1
+ORIENTATION=2
+BUTTONS=6
+
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+	
+p.resetSimulation()
+p.setGravity(0,0,-10)
+useRealTimeSim = 1
+
+#for video recording (works best on Mac and Linux, not well on Windows)
+#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
+p.setRealTimeSimulation(useRealTimeSim) # either this
+p.loadURDF("plane.urdf")
+#p.loadSDF("stadium.sdf")
+
+car = p.loadURDF("racecar/racecar_differential.urdf") #, [0,0,2],useFixedBase=True)
+for i in range (p.getNumJoints(car)):
+	print (p.getJointInfo(car,i))
+for wheel in range(p.getNumJoints(car)):
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
+		p.getJointInfo(car,wheel)	
+
+wheels = [8,15]
+print("----------------")
+
+#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
+c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=1, maxForce=10000)
+
+
+c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, maxForce=10000)
+
+c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
+c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
+p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
+
+
+steering = [0,2]
+
+targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-50,50,0)
+maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
+steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
+activeController = -1
+
+while (True):
+			
+	
+	maxForce = p.readUserDebugParameter(maxForceSlider)
+	targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
+	steeringAngle = p.readUserDebugParameter(steeringSlider)
+	#print(targetVelocity)
+	events = p.getVREvents()
+	for e in events:
+		if (e[BUTTONS][33]&p.VR_BUTTON_WAS_TRIGGERED):
+			activeController = e[CONTROLLER_ID]
+		if (activeController == e[CONTROLLER_ID]):
+			orn = e[2]
+			eul = p.getEulerFromQuaternion(orn)
+			steeringAngle=eul[0]
+			
+			targetVelocity = 20.0*e[3]
+		
+	for wheel in wheels:
+		p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
+		
+	for steer in steering:
+		p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=-steeringAngle)
+		
+	steering
+	if (useRealTimeSim==0):
+		p.stepSimulation()
+	time.sleep(0.01)

examples/pybullet/gym/envs/bullet/cartpole_bullet.py

@@ -22,10 +22,14 @@ class CartPoleBulletEnv(gym.Env):
     'video.frames_per_second' : 50
   }
 
-  def __init__(self):
+  def __init__(self, renders=True):
     # start the bullet physics server
+    self._renders = renders
+    if (renders):
 	    p.connect(p.GUI)
-    #p.connect(p.DIRECT)
+    else:
+    	p.connect(p.DIRECT)
+
     observation_high = np.array([
           np.finfo(np.float32).max,
           np.finfo(np.float32).max,
@@ -33,7 +37,7 @@ class CartPoleBulletEnv(gym.Env):
           np.finfo(np.float32).max])
     action_high = np.array([0.1])
 
-    self.action_space = spaces.Discrete(5)
+    self.action_space = spaces.Discrete(9)
     self.observation_space = spaces.Box(-observation_high, observation_high)
 
     self.theta_threshold_radians = 1
@@ -56,8 +60,8 @@ class CartPoleBulletEnv(gym.Env):
     self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
     theta, theta_dot, x, x_dot = self.state
     
-    dv = 0.4
+    dv = 0.1
-    deltav = [-2.*dv, -dv, 0, dv, 2.*dv][action]
+    deltav = [-10.*dv,-5.*dv, -2.*dv, -0.1*dv, 0, 0.1*dv, 2.*dv,5.*dv, 10.*dv][action]
     
     p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
 

examples/pybullet/gym/train_pybullet_cartpole.py

@@ -12,7 +12,7 @@ def callback(lcl, glb):
 
 def main():
 	
-    env = gym.make('CartPoleBulletEnv-v0')
+    env = CartPoleBulletEnv(renders=False)
     model = deepq.models.mlp([64])
     act = deepq.learn(
         env,

examples/pybullet/pybullet.c

@@ -4804,11 +4804,12 @@ static PyObject* pybullet_getClosestPointData(PyObject* self, PyObject* args, Py
 
 static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, PyObject* keywds)
 {
-	static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "physicsClientId", NULL};
+	static char* kwlist[] = {"userConstraintUniqueId", "jointChildPivot", "jointChildFrameOrientation", "maxForce", "gearRatio", "gearAuxLink", "physicsClientId", NULL};
 	int userConstraintUniqueId = -1;
 	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
+	int gearAuxLink = -1;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
 	PyObject* jointChildPivotObj = 0;
@@ -4817,7 +4818,7 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	double jointChildFrameOrn[4];
 	double maxForce = -1;
 	double gearRatio = 0;
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddi", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|OOddii", kwlist, &userConstraintUniqueId, &jointChildPivotObj, &jointChildFrameOrnObj, &maxForce, &gearRatio, &gearAuxLink, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -4847,6 +4848,10 @@ static PyObject* pybullet_changeUserConstraint(PyObject* self, PyObject* args, P
 	{
 		b3InitChangeUserConstraintSetGearRatio(commandHandle,gearRatio);
 	}
+	if (gearAuxLink>=0)
+	{
+		b3InitChangeUserConstraintSetGearAuxLink(commandHandle,gearAuxLink);
+	}
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 	statusType = b3GetStatusType(statusHandle);
 	Py_INCREF(Py_None);
@@ -5008,7 +5013,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
 			pybullet_internalSetVectord(planeNormalObj,planeNormal);
 			shapeIndex = b3CreateCollisionShapeAddPlane(commandHandle, planeNormal, planeConstant);
 		}
-		if (shapeIndex && flags)
+		if (shapeIndex>=0 && flags)
 		{
 			b3CreateCollisionSetFlag(commandHandle,shapeIndex,flags);
 		}
@@ -5180,14 +5185,16 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
 				double linkJointAxis[3];
 				double linkInertialFramePosition[3];
 				double linkInertialFrameOrientation[4];
+				int linkParentIndex;
+				int linkJointType;
 
 				pybullet_internalGetVector3FromSequence(seqLinkInertialFramePositions,i,linkInertialFramePosition);
 				pybullet_internalGetVector4FromSequence(linkInertialFrameOrientationObj,i,linkInertialFrameOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkPositions,i,linkPosition);
 				pybullet_internalGetVector4FromSequence(seqLinkOrientations,i,linkOrientation);
 				pybullet_internalGetVector3FromSequence(seqLinkJoinAxis,i,linkJointAxis);
-				int linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i);
+				linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,i);
-				int linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);
+				linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);
 
 				b3CreateMultiBodyLink(commandHandle, 
 									linkMass, 
@@ -7275,6 +7282,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "GEOM_PLANE", GEOM_PLANE);
 	PyModule_AddIntConstant(m, "GEOM_CAPSULE", GEOM_CAPSULE);
 
+	PyModule_AddIntConstant(m, "GEOM_FORCE_CONCAVE_TRIMESH", GEOM_FORCE_CONCAVE_TRIMESH);
+
 
 
 	SpamError = PyErr_NewException("pybullet.error", NULL, NULL);

src/BulletDynamics/Featherstone/btMultiBodyConstraint.h

@@ -184,6 +184,9 @@ public:
 	virtual void debugDraw(class btIDebugDraw* drawer)=0;
 
 	virtual void setGearRatio(btScalar ratio) {}
+	virtual void setGearAuxLink(int gearAuxLink) {}
+
+	
 };
 
 #endif //BT_MULTIBODY_CONSTRAINT_H

src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp

@@ -22,7 +22,8 @@ subject to the following restrictions:
 
 btMultiBodyGearConstraint::btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB)
 	:btMultiBodyConstraint(bodyA,bodyB,linkA,linkB,1,false),
-	m_gearRatio(1)
+	m_gearRatio(1),
+	m_gearAuxLink(-1)
 {
    
 }
@@ -121,11 +122,18 @@ void btMultiBodyGearConstraint::createConstraintRows(btMultiBodyConstraintArray&
         int dof = 0;
         btScalar currentPosition = m_bodyA->getJointPosMultiDof(m_linkA)[dof];
         btScalar currentVelocity = m_bodyA->getJointVelMultiDof(m_linkA)[dof];
+		btScalar auxVel = 0;
+		
+		if (m_gearAuxLink>=0)
+		{
+			auxVel = m_bodyA->getJointVelMultiDof(m_gearAuxLink)[dof];
+		}
+		currentVelocity += auxVel;
 			
 		//btScalar positionStabiliationTerm = erp*(m_desiredPosition-currentPosition)/infoGlobal.m_timeStep;
         //btScalar velocityError = (m_desiredVelocity - currentVelocity);
 
-        btScalar desiredRelativeVelocity =   0;
+        btScalar desiredRelativeVelocity =   auxVel;
     
 		fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,false,1,false,desiredRelativeVelocity);
 

src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h

@@ -31,10 +31,11 @@ protected:
   btMatrix3x3     m_frameInA;
   btMatrix3x3     m_frameInB;
 	btScalar			m_gearRatio;
+	int			m_gearAuxLink;
 	
 public:
 
-	btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
+	//btMultiBodyGearConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
 	btMultiBodyGearConstraint(btMultiBody* bodyA, int linkA, btMultiBody* bodyB, int linkB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB);
 
 	virtual ~btMultiBodyGearConstraint();
@@ -97,6 +98,10 @@ public:
 	{
 		m_gearRatio = gearRatio;
 	}
+	virtual void setGearAuxLink(int gearAuxLink)
+	{
+		m_gearAuxLink = gearAuxLink;
+	}
 
 };