Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

enable planar reflection in MinitaurGymEnv

Browse Source 
enable follow cam in other Gym locomotion environments
add testing assets for multi-material obj files -> sdf conversion.
Also use ER_NO_SEGMENTATION_MASK flag for TinyRenderer/EGL plugin renderer
This commit is contained in:
erwincoumans
2018-10-14 15:10:19 -07:00
parent c1e20c448f
commit b5e475aec3
16 changed files with 544 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

122
data/threecubes/newsdf.sdf Normal file
View File

@@ -0,0 +1,122 @@
<sdf version='1.6'>
<world name='default'>
<gravity>0 0 -9.8</gravity>
<model name='part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision_0'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part0.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part0.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.000000 0.640000 0.000000 1.000000</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part1.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d1'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision_1'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part1.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part1.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.000000 0.000000 0.640000 1.000000</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision_2'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part2.obj</uri>
</mesh>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>part2.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.640000 0.000000 0.000000 1.000000</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
</world>
</sdf>

60
data/threecubes/part0.obj Normal file
View File

@@ -0,0 +1,60 @@
# Exported using automatic converter by Erwin Coumans
mtllib three_cubes.mtl
#object Cube.001
v -4.474365 4.513344 -0.488734
v -4.474365 2.513344 -0.488735
v -4.474365 2.513344 1.511265
v -2.474365 4.513344 -0.488734
v -2.474365 2.513344 -0.488735
v -4.474365 2.513344 -0.488735
v -2.474365 4.513343 1.511266
v -2.474365 2.513344 1.511265
v -2.474365 2.513344 -0.488735
v -4.474365 4.513343 1.511266
v -4.474365 2.513344 1.511265
v -2.474365 2.513344 1.511265
v -4.474365 2.513344 -0.488735
v -2.474365 4.513343 1.511266
v -2.474365 4.513344 -0.488734
v -4.474365 4.513343 1.511266
v -4.474365 4.513344 -0.488734
v -2.474365 4.513344 -0.488734
v -2.474365 4.513343 1.511266
v -4.474365 2.513344 1.511265
usemtl Material.001
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
s off
f 1/1/1 2/2/2 3/3/3
f 4/4/4 5/5/5 6/6/6
f 7/7/7 8/8/8 9/9/9
f 10/10/10 11/11/11 12/12/12
f 13/13/13 5/5/5 12/12/12
f 10/10/10 14/14/14 15/15/15
f 16/16/16 1/1/1 3/3/3
f 17/17/17 4/4/4 6/6/6
f 18/18/18 7/7/7 9/9/9
f 19/19/19 10/10/10 12/12/12
f 20/20/20 13/13/13 12/12/12
f 17/17/17 10/10/10 15/15/15

60
data/threecubes/part1.obj Normal file
View File

@@ -0,0 +1,60 @@
# Exported using automatic converter by Erwin Coumans
mtllib three_cubes.mtl
#object Cube.002
v -4.474365 4.513344 -3.663786
v -4.474365 2.513345 -3.663786
v -4.474365 2.513344 -1.663787
v -2.474365 4.513344 -3.663786
v -2.474365 2.513345 -3.663786
v -4.474365 2.513345 -3.663786
v -2.474365 4.513344 -1.663786
v -2.474365 2.513344 -1.663787
v -2.474365 2.513345 -3.663786
v -4.474365 4.513344 -1.663786
v -4.474365 2.513344 -1.663787
v -2.474365 2.513344 -1.663787
v -4.474365 2.513345 -3.663786
v -2.474365 4.513344 -1.663786
v -2.474365 4.513344 -3.663786
v -4.474365 4.513344 -1.663786
v -4.474365 4.513344 -3.663786
v -2.474365 4.513344 -3.663786
v -2.474365 4.513344 -1.663786
v -4.474365 2.513344 -1.663787
usemtl Material.002
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
s off
f 1/1/1 2/2/2 3/3/3
f 4/4/4 5/5/5 6/6/6
f 7/7/7 8/8/8 9/9/9
f 10/10/10 11/11/11 12/12/12
f 13/13/13 5/5/5 12/12/12
f 10/10/10 14/14/14 15/15/15
f 16/16/16 1/1/1 3/3/3
f 17/17/17 4/4/4 6/6/6
f 18/18/18 7/7/7 9/9/9
f 19/19/19 10/10/10 12/12/12
f 20/20/20 13/13/13 12/12/12
f 17/17/17 10/10/10 15/15/15

60
data/threecubes/part2.obj Normal file
View File

@@ -0,0 +1,60 @@
# Exported using automatic converter by Erwin Coumans
mtllib three_cubes.mtl
#object Cube
v -4.474365 4.513343 2.535691
v -4.474365 2.513344 2.535691
v -4.474365 2.513343 4.535690
v -2.474365 4.513343 2.535691
v -2.474365 2.513344 2.535691
v -4.474365 2.513344 2.535691
v -2.474365 4.513343 4.535691
v -2.474365 2.513343 4.535690
v -2.474365 2.513344 2.535691
v -4.474365 4.513343 4.535691
v -4.474365 2.513343 4.535690
v -2.474365 2.513343 4.535690
v -4.474365 2.513344 2.535691
v -2.474365 4.513343 4.535691
v -2.474365 4.513343 2.535691
v -4.474365 4.513343 4.535691
v -4.474365 4.513343 2.535691
v -2.474365 4.513343 2.535691
v -2.474365 4.513343 4.535691
v -4.474365 2.513343 4.535690
usemtl Material
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
vt 0.000000 0.000000
s off
f 1/1/1 2/2/2 3/3/3
f 4/4/4 5/5/5 6/6/6
f 7/7/7 8/8/8 9/9/9
f 10/10/10 11/11/11 12/12/12
f 13/13/13 5/5/5 12/12/12
f 10/10/10 14/14/14 15/15/15
f 16/16/16 1/1/1 3/3/3
f 17/17/17 4/4/4 6/6/6
f 18/18/18 7/7/7 9/9/9
f 19/19/19 10/10/10 12/12/12
f 20/20/20 13/13/13 12/12/12
f 17/17/17 10/10/10 15/15/15

31
data/threecubes/three_cubes.mtl Normal file
View File

@@ -0,0 +1,31 @@
# Blender MTL File: 'None'
# Material Count: 3
newmtl Material
Ns 92.156863
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.000000 0.000000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Material.001
Ns 92.156863
Ka 0.000000 0.000000 0.000000
Kd 0.000000 0.640000 0.000000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Material.002
Ns 92.156863
Ka 0.000000 0.000000 0.000000
Kd 0.000000 0.000000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2

84
data/threecubes/three_cubes.obj Normal file
View File

@@ -0,0 +1,84 @@
# Blender v2.71 (sub 0) OBJ File: ''
# www.blender.org
mtllib three_cubes.mtl
o Cube.001
v -4.474365 4.513343 1.511266
v -4.474365 4.513344 -0.488734
v -4.474365 2.513344 -0.488735
v -4.474365 2.513344 1.511265
v -2.474365 4.513344 -0.488734
v -2.474365 2.513344 -0.488735
v -2.474365 4.513343 1.511266
v -2.474365 2.513344 1.511265
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 0.000000 0.000000
usemtl Material.001
s off
f 2/1 3/2 4/3
f 5/1 6/2 3/3
f 7/1 8/2 6/3
f 1/1 4/2 8/3
f 3/1 6/2 8/3
f 1/1 7/2 5/3
f 1/4 2/1 4/3
f 2/4 5/1 3/3
f 5/4 7/1 6/3
f 7/4 1/1 8/3
f 4/4 3/1 8/3
f 2/4 1/1 5/3
o Cube.002
v -4.474365 4.513344 -1.663786
v -4.474365 4.513344 -3.663786
v -4.474365 2.513345 -3.663786
v -4.474365 2.513344 -1.663787
v -2.474365 4.513344 -3.663786
v -2.474365 2.513345 -3.663786
v -2.474365 4.513344 -1.663786
v -2.474365 2.513344 -1.663787
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 0.000000 0.000000
usemtl Material.002
s off
f 10/5 11/6 12/7
f 13/5 14/6 11/7
f 15/5 16/6 14/7
f 9/5 12/6 16/7
f 11/5 14/6 16/7
f 9/5 15/6 13/7
f 9/8 10/5 12/7
f 10/8 13/5 11/7
f 13/8 15/5 14/7
f 15/8 9/5 16/7
f 12/8 11/5 16/7
f 10/8 9/5 13/7
o Cube
v -4.474365 4.513343 4.535691
v -4.474365 4.513343 2.535691
v -4.474365 2.513344 2.535691
v -4.474365 2.513343 4.535690
v -2.474365 4.513343 2.535691
v -2.474365 2.513344 2.535691
v -2.474365 4.513343 4.535691
v -2.474365 2.513343 4.535690
vt 1.000000 0.000000
vt 1.000000 1.000000
vt 0.000000 1.000000
vt 0.000000 0.000000
usemtl Material
s off
f 18/9 19/10 20/11
f 21/9 22/10 19/11
f 23/9 24/10 22/11
f 17/9 20/10 24/11
f 19/9 22/10 24/11
f 17/9 23/10 21/11
f 17/12 18/9 20/11
f 18/12 21/9 19/11
f 21/12 23/9 22/11
f 23/12 17/9 24/11
f 20/12 19/9 24/11
f 18/12 17/9 21/11

8
data/threecubes/threecubes.py Normal file
View File

@@ -0,0 +1,8 @@
import pybullet as p
p.connect(p.DIRECT)
p.loadPlugin("eglRendererPlugin")
p.loadSDF("newsdf.sdf")
while (1):
p.getCameraImage(320,240, flags=p.ER_NO_SEGMENTATION_MASK)
p.stepSimulation()

32
data/threecubes/threecubes.urdf Normal file
View File

@@ -0,0 +1,32 @@
<?xml version="1.0" ?>
<robot name="cube">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<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="three_cubes.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="three_cubes.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
</robot>

22
data/threecubes/threecubes_org.py Normal file
View File

@@ -0,0 +1,22 @@
import pybullet as p
useEGL = False
useEGLGUI = False
if useEGL:
if useEGLGUI:
p.connect(p.GUI, "window_backend=2")
else:
p.connect(p.DIRECT)
p.loadPlugin("eglRendererPlugin")
else:
p.connect(p.GUI)
p.loadURDF("threecubes.urdf", flags=p.URDF_USE_MATERIAL_COLORS_FROM_MTL)
while (1):
viewmat= [0.642787516117096, -0.4393851161003113, 0.6275069713592529, 0.0, 0.766044557094574, 0.36868777871131897, -0.5265407562255859, 0.0, -0.0, 0.8191521167755127, 0.5735764503479004, 0.0, 2.384185791015625e-07, 2.384185791015625e-07, -5.000000476837158, 1.0]
projmat= [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
p.getCameraImage(64,64, viewMatrix=viewmat, projectionMatrix=projmat, flags=p.ER_NO_SEGMENTATION_MASK )
p.stepSimulation()

1
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -1311,6 +1311,7 @@ void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex,
UrdfLink* const* linkPtr = model.m_links.getAtIndex(urdfIndex); UrdfLink* const* linkPtr = model.m_links.getAtIndex(urdfIndex);
if (linkPtr) if (linkPtr)
{ {
m_data->m_customVisualShapesConverter->setFlags(m_data->m_flags);
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId, m_data->m_fileIO); m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex, pathPrefix, localInertiaFrame, *linkPtr, &model, colObj->getBroadphaseHandle()->getUid(), bodyUniqueId, m_data->m_fileIO);
} }
} }

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -3748,6 +3748,10 @@ bool PhysicsServerCommandProcessor::processRequestCameraImageCommand(const struc
m_data->m_pluginManager.getRenderInterface()->setProjectiveTexture(false); m_data->m_pluginManager.getRenderInterface()->setProjectiveTexture(false);
} }
if ((flags & ER_NO_SEGMENTATION_MASK) != 0)
{
segmentationMaskBuffer = 0;
}
m_data->m_pluginManager.getRenderInterface()->copyCameraImageData(pixelRGBA, numRequestedPixels, m_data->m_pluginManager.getRenderInterface()->copyCameraImageData(pixelRGBA, numRequestedPixels,
depthBuffer, numRequestedPixels, depthBuffer, numRequestedPixels,

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -820,7 +820,7 @@ enum eURDF_Flags
URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192, URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
URDF_PARSE_SENSORS = 16384, URDF_PARSE_SENSORS = 16384,
URDF_USE_MATERIAL_COLORS_FROM_MTL = 32768, URDF_USE_MATERIAL_COLORS_FROM_MTL = 32768,
URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL = 64738, URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL = 65536,
}; };
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

23
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
View File

@@ -270,13 +270,14 @@ void EGLRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff)
} }
///todo: merge into single file with TinyRendererVisualShapeConverter ///todo: merge into single file with TinyRendererVisualShapeConverter
static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture3>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO) static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture3>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO, int flags)
{ {
visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type; visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
visualShapeOut.m_dimensions[0] = 0; visualShapeOut.m_dimensions[0] = 0;
visualShapeOut.m_dimensions[1] = 0; visualShapeOut.m_dimensions[1] = 0;
visualShapeOut.m_dimensions[2] = 0; visualShapeOut.m_dimensions[2] = 0;
memset(visualShapeOut.m_meshAssetFileName, 0, sizeof(visualShapeOut.m_meshAssetFileName)); memset(visualShapeOut.m_meshAssetFileName, 0, sizeof(visualShapeOut.m_meshAssetFileName));
#if 0
if (visual->m_geometry.m_hasLocalMaterial) if (visual->m_geometry.m_hasLocalMaterial)
{ {
visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0]; visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0];
@@ -284,6 +285,7 @@ static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfP
visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[2]; visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[2];
visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[3]; visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[3];
} }
#endif
GLInstanceGraphicsShape* glmesh = 0; GLInstanceGraphicsShape* glmesh = 0;
@@ -412,6 +414,23 @@ static void convertURDFToVisualShape2(const UrdfShape* visual, const char* urdfP
b3ImportMeshData meshData; b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO)) if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO))
{ {
if (flags&URDF_USE_MATERIAL_COLORS_FROM_MTL)
{
if (meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR)
{
visualShapeOut.m_rgbaColor[0] = meshData.m_rgbaColor[0];
visualShapeOut.m_rgbaColor[1] = meshData.m_rgbaColor[1];
visualShapeOut.m_rgbaColor[2] = meshData.m_rgbaColor[2];
if (flags&URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
{
visualShapeOut.m_rgbaColor[3] = meshData.m_rgbaColor[3];
} else
{
visualShapeOut.m_rgbaColor[3] = 1;
}
}
}
if (meshData.m_textureImage1) if (meshData.m_textureImage1)
{ {
MyTexture3 texData; MyTexture3 texData;
@@ -752,7 +771,7 @@ void EGLRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_rgbaColor[3] = rgbaColor[3]; visualShape.m_rgbaColor[3] = rgbaColor[3];
{ {
B3_PROFILE("convertURDFToVisualShape2"); B3_PROFILE("convertURDFToVisualShape2");
convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO); convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO, m_data->m_flags);
} }
m_data->m_visualShapes.push_back(visualShape); m_data->m_visualShapes.push_back(visualShape);

29
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
View File

@@ -182,13 +182,14 @@ void TinyRendererVisualShapeConverter::setLightSpecularCoeff(float specularCoeff
m_data->m_hasLightSpecularCoeff = true; m_data->m_hasLightSpecularCoeff = true;
} }
static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO) static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut, b3VisualShapeData& visualShapeOut, struct CommonFileIOInterface* fileIO, int flags)
{ {
visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type; visualShapeOut.m_visualGeometryType = visual->m_geometry.m_type;
visualShapeOut.m_dimensions[0] = 0; visualShapeOut.m_dimensions[0] = 0;
visualShapeOut.m_dimensions[1] = 0; visualShapeOut.m_dimensions[1] = 0;
visualShapeOut.m_dimensions[2] = 0; visualShapeOut.m_dimensions[2] = 0;
memset(visualShapeOut.m_meshAssetFileName, 0, sizeof(visualShapeOut.m_meshAssetFileName)); memset(visualShapeOut.m_meshAssetFileName, 0, sizeof(visualShapeOut.m_meshAssetFileName));
#if 0
if (visual->m_geometry.m_hasLocalMaterial) if (visual->m_geometry.m_hasLocalMaterial)
{ {
visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0]; visualShapeOut.m_rgbaColor[0] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[0];
@@ -196,6 +197,7 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[2]; visualShapeOut.m_rgbaColor[2] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[2];
visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[3]; visualShapeOut.m_rgbaColor[3] = visual->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[3];
} }
#endif
GLInstanceGraphicsShape* glmesh = 0; GLInstanceGraphicsShape* glmesh = 0;
@@ -322,8 +324,26 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
{ {
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix); //glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData; b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO)) if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(visual->m_geometry.m_meshFileName, meshData, fileIO))
{ {
if (flags&URDF_USE_MATERIAL_COLORS_FROM_MTL)
{
if (meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR)
{
visualShapeOut.m_rgbaColor[0] = meshData.m_rgbaColor[0];
visualShapeOut.m_rgbaColor[1] = meshData.m_rgbaColor[1];
visualShapeOut.m_rgbaColor[2] = meshData.m_rgbaColor[2];
if (flags&URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
{
visualShapeOut.m_rgbaColor[3] = meshData.m_rgbaColor[3];
} else
{
visualShapeOut.m_rgbaColor[3] = 1;
}
}
}
if (meshData.m_textureImage1) if (meshData.m_textureImage1)
{ {
MyTexture2 texData; MyTexture2 texData;
@@ -665,9 +685,14 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
{ {
B3_PROFILE("convertURDFToVisualShape"); B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO); convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO, m_data->m_flags);
} }
rgbaColor[0] = visualShape.m_rgbaColor[0];
rgbaColor[1] = visualShape.m_rgbaColor[1];
rgbaColor[2] = visualShape.m_rgbaColor[2];
rgbaColor[3] = visualShape.m_rgbaColor[3];
if (vertices.size() && indices.size()) if (vertices.size() && indices.size())
{ {
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer, m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId, linkIndex); TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer, m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId, linkIndex);

10
examples/pybullet/gym/pybullet_envs/env_bases.py
View File

@@ -111,6 +111,16 @@ class MJCFBaseBulletEnv(gym.Env):
# backwards compatibility for gym >= v0.9.x # backwards compatibility for gym >= v0.9.x
# for extension of this class. # for extension of this class.
def step(self, *args, **kwargs): def step(self, *args, **kwargs):
if self.isRender:
base_pos=[0,0,0]
if (hasattr(self,'robot')):
if (hasattr(self.robot,'body_xyz')):
base_pos = self.robot.body_xyz
# Keep the previous orientation of the camera set by the user.
#[yaw, pitch, dist] = self._p.getDebugVisualizerCamera()[8:11]
self._p.resetDebugVisualizerCamera(3,0,0, base_pos)
return self._step(*args, **kwargs) return self._step(*args, **kwargs)
if parse_version(gym.__version__)>=parse_version('0.9.6'): if parse_version(gym.__version__)>=parse_version('0.9.6'):

2
examples/pybullet/gym/pybullet_envs/minitaur/envs/minitaur_gym_env.py
View File

@@ -271,7 +271,7 @@ class MinitaurGymEnv(gym.Env):
"%s/plane.urdf" % self._urdf_root) "%s/plane.urdf" % self._urdf_root)
if (self._reflection): if (self._reflection):
self._pybullet_client.changeVisualShape(self._ground_id,-1,rgbaColor=[1,1,1,0.8]) self._pybullet_client.changeVisualShape(self._ground_id,-1,rgbaColor=[1,1,1,0.8])
#self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,1) self._pybullet_client.configureDebugVisualizer(self._pybullet_client.COV_ENABLE_PLANAR_REFLECTION,self._ground_id)
self._pybullet_client.setGravity(0, 0, -10) self._pybullet_client.setGravity(0, 0, -10)
acc_motor = self._accurate_motor_model_enabled acc_motor = self._accurate_motor_model_enabled
motor_protect = self._motor_overheat_protection motor_protect = self._motor_overheat_protection