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Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape

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See createMesh.py for an example.

The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:

#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
This commit is contained in:
Erwin Coumans
2019-01-03 16:19:28 -08:00
parent 21d9465d94
commit bf9efffa4b
7 changed files with 199 additions and 44 deletions
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31
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1280,8 +1280,11 @@ B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle comm
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices)
B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
@@ -1305,12 +1308,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3SharedMemoryCommandHandl
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numVertices = numVertices;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numIndices = 0;
for (i=0;i<numVertices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+0]=vertices[i*3+0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+1]=vertices[i*3+1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+2]=vertices[i*3+2];
}
cl->uploadBulletFileToSharedMemory((const char*)vertices, numVertices * sizeof(double)*3);
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
@@ -1318,8 +1316,10 @@ B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3SharedMemoryCommandHandl
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices)
B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
@@ -1342,11 +1342,16 @@ B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3SharedMemoryCommandHand
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName[0]=0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numVertices = numVertices;
int totalUploadSizeInBytes = numVertices * sizeof(double) *3 + numIndices * sizeof(int);
char* data = (char*)malloc(totalUploadSizeInBytes);
double* vertexUpload = (double*)data;
int* indexUpload = (int*)(data + numVertices*sizeof(double)*3);
for (i=0;i<numVertices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+0]=vertices[i*3+0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+1]=vertices[i*3+1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+2]=vertices[i*3+2];
vertexUpload[i*3+0]=vertices[i*3+0];
vertexUpload[i*3+1]=vertices[i*3+1];
vertexUpload[i*3+2]=vertices[i*3+2];
}
if (numIndices>B3_MAX_NUM_INDICES)
numIndices = B3_MAX_NUM_INDICES;
@@ -1354,9 +1359,11 @@ B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3SharedMemoryCommandHand
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numIndices = numIndices;
for (i=0;i<numIndices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_indices[i]=indices[i];
indexUpload[i]=indices[i];
}
command->m_createUserShapeArgs.m_numUserShapes++;
cl->uploadBulletFileToSharedMemory(data, totalUploadSizeInBytes);
free(data);
return shapeIndex;
}
}

4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -466,8 +466,8 @@ extern "C"
B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant);
B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]);
B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices);
B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices);
B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices);
B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices);
B3_SHARED_API void b3CreateCollisionSetFlag(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, int flags);
B3_SHARED_API void b3CreateCollisionShapeSetChildTransform(b3SharedMemoryCommandHandle commandHandle, int shapeIndex, const double childPosition[/*3*/], const double childOrientation[/*4*/]);
B3_SHARED_API int b3GetStatusCollisionShapeUniqueId(b3SharedMemoryStatusHandle statusHandle);

41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4215,6 +4215,17 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices)
{
int numVertices = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices;
int numIndices = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numIndices;
//int totalUploadSizeInBytes = numVertices * sizeof(double) * 3 + numIndices * sizeof(int);
char* data = bufferServerToClient;
double* vertexUpload = (double*)data;
int* indexUpload = (int*)(data + numVertices * sizeof(double)*3);
if (compound == 0)
{
compound = worldImporter->createCompoundShape();
@@ -4231,19 +4242,19 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
for (int j = 0; j < clientCmd.m_createUserShapeArgs.m_shapes[i].m_numIndices / 3; j++)
{
int i0 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+0];
int i1 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+1];
int i2 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+2];
int i0 = indexUpload[j*3+0];
int i1 = indexUpload[j*3+1];
int i2 = indexUpload[j*3+2];
btVector3 v0( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+2]);
btVector3 v1( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+2]);
btVector3 v2( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+2]);
btVector3 v0(vertexUpload[i0*3+0],
vertexUpload[i0*3+1],
vertexUpload[i0*3+2]);
btVector3 v1(vertexUpload[i1*3+0],
vertexUpload[i1*3+1],
vertexUpload[i1*3+2]);
btVector3 v2(vertexUpload[i2*3+0],
vertexUpload[i2*3+1],
vertexUpload[i2*3+2]);
meshInterface->addTriangle(v0, v1, v2);
}
}
@@ -4274,9 +4285,9 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
for (int v = 0; v < clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices; v++)
{
btVector3 pt( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+2]);
btVector3 pt(vertexUpload[v*3+0],
vertexUpload[v*3+1],
vertexUpload[v*3+2]);
convexHull->addPoint(pt, false);
}

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -928,9 +928,7 @@ struct b3CreateUserShapeData
int m_collisionFlags;
int m_visualFlags;
int m_numVertices;
double m_vertices[B3_MAX_NUM_VERTICES*3];
int m_numIndices;
int m_indices[B3_MAX_NUM_INDICES];
double m_rgbaColor[4];
double m_specularColor[3];
};

15
examples/SharedMemory/SharedMemoryPublic.h
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@@ -941,8 +941,19 @@ enum eFileIOTypes
eInMemoryFileIO,
};
//limits for vertices/indices in PyBullet::createCollisionShape
#define B3_MAX_NUM_VERTICES 16
#define B3_MAX_NUM_INDICES 16
//Make sure the data fits in SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE
//(numVertices*sizeof(double)*3 + numIndices*sizeof(int)) < SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE
#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
#endif //SHARED_MEMORY_PUBLIC_H

121
examples/pybullet/examples/createMesh.py Normal file
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@@ -0,0 +1,121 @@
import pybullet as p
import time
import math
p.connect(p.GUI)
#don't create a ground plane, to allow for gaps etc
p.resetSimulation()
#p.createCollisionShape(p.GEOM_PLANE)
#p.createMultiBody(0,0)
#p.resetDebugVisualizerCamera(5,75,-26,[0,0,1]);
p.resetDebugVisualizerCamera(15,-346,-16,[-15,0,1]);
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
#a few different ways to create a mesh:
vertices=[ [-0.246350,-0.246483,-0.000624],
[-0.151407, -0.176325, 0.172867],
[ -0.246350, 0.249205, -0.000624],
[ -0.151407, 0.129477, 0.172867],
[ 0.249338, -0.246483, -0.000624],
[ 0.154395, -0.176325, 0.172867],
[ 0.249338, 0.249205, -0.000624],
[ 0.154395, 0.129477, 0.172867]
]
indices=[0,3,2,
3,6,2,
7,4,6,
5,0,4,
6,0,2,
3,5,7,
0,1,3,
3,7,6,
7,5,4,
5,1,0,
6,4,0,
3,1,5]
#convex mesh from obj
stoneId = p.createCollisionShape(p.GEOM_MESH,vertices=vertices,indices=indices)
boxHalfLength = 0.5
boxHalfWidth = 2.5
boxHalfHeight = 0.1
segmentLength = 5
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[boxHalfLength,boxHalfWidth,boxHalfHeight])
mass = 1
visualShapeId = -1
segmentStart = 0
for i in range (segmentLength):
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
segmentStart=segmentStart-1
for i in range (segmentLength):
height = 0
if (i%2):
height=1
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1+height])
segmentStart=segmentStart-1
baseOrientation = p.getQuaternionFromEuler([math.pi/2.,0,math.pi/2.])
for i in range (segmentLength):
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
segmentStart=segmentStart-1
if (i%2):
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,i%3,-0.1+height+boxHalfWidth],baseOrientation=baseOrientation)
for i in range (segmentLength):
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = colBoxId,basePosition = [segmentStart,0,-0.1])
width=4
for j in range (width):
p.createMultiBody(baseMass=0,baseCollisionShapeIndex = stoneId,basePosition = [segmentStart,0.5*(i%2)+j-width/2.,0])
segmentStart=segmentStart-1
link_Masses=[1]
linkCollisionShapeIndices=[colBoxId]
linkVisualShapeIndices=[-1]
linkPositions=[[0,0,0]]
linkOrientations=[[0,0,0,1]]
linkInertialFramePositions=[[0,0,0]]
linkInertialFrameOrientations=[[0,0,0,1]]
indices=[0]
jointTypes=[p.JOINT_REVOLUTE]
axis=[[1,0,0]]
baseOrientation = [0,0,0,1]
for i in range (segmentLength):
boxId = p.createMultiBody(0,colSphereId,-1,[segmentStart,0,-0.1],baseOrientation,linkMasses=link_Masses,linkCollisionShapeIndices=linkCollisionShapeIndices,linkVisualShapeIndices=linkVisualShapeIndices,linkPositions=linkPositions,linkOrientations=linkOrientations,linkInertialFramePositions=linkInertialFramePositions, linkInertialFrameOrientations=linkInertialFrameOrientations,linkParentIndices=indices,linkJointTypes=jointTypes,linkJointAxis=axis)
p.changeDynamics(boxId,-1,spinningFriction=0.001, rollingFriction=0.001,linearDamping=0.0)
print(p.getNumJoints(boxId))
for joint in range (p.getNumJoints(boxId)):
targetVelocity = 10
if (i%2):
targetVelocity =-10
p.setJointMotorControl2(boxId,joint,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=100)
segmentStart=segmentStart-1.1
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
while (1):
camData = p.getDebugVisualizerCamera()
viewMat = camData[2]
projMat = camData[3]
p.getCameraImage(256,256,viewMatrix=viewMat, projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
keys = p.getKeyboardEvents()
p.stepSimulation()
#print(keys)
time.sleep(0.01)

29
examples/pybullet/pybullet.c
View File

@@ -6696,9 +6696,12 @@ static int extractVertices(PyObject* verticesObj, double* vertices, int maxNumVe
double vertex[3];
if (pybullet_internalSetVectord(vertexObj, vertex))
{
vertices[numVerticesOut*3+0]=vertex[0];
vertices[numVerticesOut*3+1]=vertex[1];
vertices[numVerticesOut*3+2]=vertex[2];
if (vertices)
{
vertices[numVerticesOut * 3 + 0] = vertex[0];
vertices[numVerticesOut * 3 + 1] = vertex[1];
vertices[numVerticesOut * 3 + 2] = vertex[2];
}
numVerticesOut++;
}
}
@@ -6730,7 +6733,10 @@ static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
for (i = 0; i < numIndicesSrc; i++)
{
int index = pybullet_internalGetIntFromSequence(seqIndicesObj,i);
indices[numIndicesOut]=index;
if (indices)
{
indices[numIndicesOut] = index;
}
numIndicesOut++;
}
}
@@ -6806,11 +6812,10 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
}
if (shapeType == GEOM_MESH && verticesObj)
{
int numVertices=0;
int numIndices=0;
double vertices[B3_MAX_NUM_VERTICES*3];
int indices[B3_MAX_NUM_INDICES];
int numVertices= extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
int numIndices= extractIndices(indicesObj, 0, B3_MAX_NUM_INDICES);
double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
int* indices = numIndices ? malloc(numIndices * sizeof(int)) : 0;
numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
pybullet_internalSetVectord(meshScaleObj, meshScale);
@@ -6822,11 +6827,13 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
if (numIndices)
{
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(commandHandle, meshScale, vertices, numVertices, indices, numIndices);
shapeIndex = b3CreateCollisionShapeAddConcaveMesh(sm, commandHandle, meshScale, vertices, numVertices, indices, numIndices);
} else
{
shapeIndex = b3CreateCollisionShapeAddConvexMesh(commandHandle, meshScale, vertices, numVertices);
shapeIndex = b3CreateCollisionShapeAddConvexMesh(sm, commandHandle, meshScale, vertices, numVertices);
}
free(vertices);
free(indices);
}
if (shapeType == GEOM_PLANE)