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Merge pull request #1206 from erwincoumans/master

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Allow to create concave collision meshes. Transparency (only OpenGL 3.x renderer, not tinyrenderer/gl2)
This commit is contained in:
erwincoumans
2017-06-24 20:07:17 -07:00
committed by GitHub
parent 40dae99435 d5fe67cf57
commit b4f21e77af
35 changed files with 680 additions and 301 deletions
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30
data/racecar/racecar_differential.urdf
View File

@@ -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>

32
data/sphere_transparent.urdf Normal file
View File

@@ -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>

2
examples/Collision/CollisionTutorialBullet2.cpp
View File

@@ -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);
}

2
examples/CommonInterfaces/CommonRenderInterface.h
View File

@@ -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

1
examples/InverseKinematics/InverseKinematicsExample.cpp
View File

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

2
examples/MultiThreading/MultiThreadingExample.cpp
View File

@@ -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);
}

172
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -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_enableBlend(false)
m_upAxis(1)
{
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];
if (gfxObj->m_numGraphicsInstances)
int shapeIndex = transparentInstances[i].m_shapeIndex;
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;
@@ -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(2, 4, GL_FLOAT, GL_FALSE, 0, (GLvoid *)(curOffset*4*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE));
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 *)(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(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(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 *)(transparentInstances[i].m_instanceId*3*sizeof(float)+m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE));
glEnableVertexAttribArray(0);
glEnableVertexAttribArray(1);
@@ -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;
}
}
{

7
examples/OpenGLWindow/GLInstancingRenderer.h
View File

@@ -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);

15
examples/OpenGLWindow/SimpleCamera.cpp
View File

@@ -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

3
examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp
View File

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

1
examples/OpenGLWindow/SimpleOpenGL2Renderer.h
View File

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

1
examples/RenderingExamples/CoordinateSystemDemo.cpp
View File

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

1
examples/RenderingExamples/DynamicTexturedCubeDemo.cpp
View File

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

1
examples/RenderingExamples/RenderInstancingDemo.cpp
View File

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

2
examples/RenderingExamples/TinyRendererSetup.cpp
View File

@@ -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;
}

1
examples/RoboticsLearning/GripperGraspExample.cpp
View File

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

1
examples/RoboticsLearning/KukaGraspExample.cpp
View File

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

1
examples/RoboticsLearning/R2D2GraspExample.cpp
View File

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

21
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -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;

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -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);

60
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -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)

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -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

1
examples/SharedMemory/SharedMemoryPublic.h
View File

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

18
examples/Tutorial/Tutorial.cpp
View File

@@ -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);
b3Vector4 color = b3MakeVector4(1,1,1,0.8);
int sphereTransparent = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
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);
}

3
examples/pybullet/examples/createMultiBodyLinks.py
View File

@@ -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)

8
examples/pybullet/examples/createSphereMultiBodies.py
View File

@@ -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)

15
examples/pybullet/examples/racecar_differential.py
View File

@@ -7,14 +7,13 @@ 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.loadSDF("stadium.sdf")
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)):
@@ -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]

18
examples/pybullet/examples/transparent.py Normal file
View File

@@ -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)

93
examples/pybullet/examples/vr_racecar_differential.py Normal file
View File

@@ -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)

14
examples/pybullet/gym/envs/bullet/cartpole_bullet.py
View File

@@ -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
deltav = [-2.*dv, -dv, 0, dv, 2.*dv][action]
dv = 0.1
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]))

2
examples/pybullet/gym/train_pybullet_cartpole.py
View File

@@ -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,

19
examples/pybullet/pybullet.c
View File

@@ -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);
int linkJointType = pybullet_internalGetIntFromSequence(seqLinkJointTypes,i);
linkParentIndex = pybullet_internalGetIntFromSequence(seqLinkParentIndices,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);

3
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
View File

@@ -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

12
src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.cpp
View File

@@ -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);

7
src/BulletDynamics/Featherstone/btMultiBodyGearConstraint.h
View File

@@ -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;
}
};