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Implement InMemoryFile for memory caching for fileIO plugin.

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Support SDF loading through fileIO plugin.
Replace strcspn by C code (not crossplatform)
Add flag for loadURDF to use color from MTL file (instead from URDF link material)
pybullet.URDF_USE_MATERIAL_COLORS_FROM_MTL and pybullet.URDF_USE_MATERIAL_TRANSPARANCY_FROM_MTL
This commit is contained in:
erwincoumans
2018-10-14 12:54:34 -07:00
parent 3309ce8f6a
commit c1e20c448f
12 changed files with 511 additions and 66 deletions
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74
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9,7 +9,7 @@
#include "../Extras/InverseDynamics/btMultiBodyTreeCreator.hpp"
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
#include "BulletDynamics/Featherstone/btMultiBodyMLCPConstraintSolver.h"
@@ -2016,11 +2016,13 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
const b3CreateMultiBodyArgs& m_createBodyArgs;
mutable b3AlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
PhysicsServerCommandProcessorInternalData* m_data;
int m_flags;
ProgrammaticUrdfInterface(const b3CreateMultiBodyArgs& bodyArgs, PhysicsServerCommandProcessorInternalData* data)
ProgrammaticUrdfInterface(const b3CreateMultiBodyArgs& bodyArgs, PhysicsServerCommandProcessorInternalData* data, int flags)
: m_bodyUniqueId(-1),
m_createBodyArgs(bodyArgs),
m_data(data)
m_data(data),
m_flags(flags)
{
}
@@ -2068,19 +2070,38 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
return false;
}
mutable btHashMap<btHashInt, UrdfMaterialColor> m_linkColors;
virtual bool getLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const
{
if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex] >= 0)
if (m_flags & URDF_USE_MATERIAL_COLORS_FROM_MTL)
{
const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]);
if (visHandle)
const UrdfMaterialColor* matColPtr = m_linkColors[linkIndex];
if (matColPtr)
{
for (int i = 0; i < visHandle->m_visualShapes.size(); i++)
matCol = *matColPtr;
if ((m_flags&CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)==0)
{
if (visHandle->m_visualShapes[i].m_geometry.m_hasLocalMaterial)
matCol.m_rgbaColor[3] = 1;
}
return true;
}
} else
{
if (m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex] >= 0)
{
const InternalVisualShapeHandle* visHandle = m_data->m_userVisualShapeHandles.getHandle(m_createBodyArgs.m_linkVisualShapeUniqueIds[linkIndex]);
if (visHandle)
{
for (int i = 0; i < visHandle->m_visualShapes.size(); i++)
{
matCol = visHandle->m_visualShapes[i].m_geometry.m_localMaterial.m_matColor;
return true;
if (visHandle->m_visualShapes[i].m_geometry.m_hasLocalMaterial)
{
matCol = visHandle->m_visualShapes[i].m_geometry.m_localMaterial.m_matColor;
return true;
}
}
}
}
@@ -2274,7 +2295,21 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
{
for (int v = 0; v < visHandle->m_visualShapes.size(); v++)
{
u2b.convertURDFToVisualShapeInternal(&visHandle->m_visualShapes[v], pathPrefix, localInertiaFrame.inverse() * visHandle->m_visualShapes[v].m_linkLocalFrame, vertices, indices, textures);
b3ImportMeshData meshData;
u2b.convertURDFToVisualShapeInternal(&visHandle->m_visualShapes[v], pathPrefix, localInertiaFrame.inverse() * visHandle->m_visualShapes[v].m_linkLocalFrame, vertices, indices, textures, meshData);
if ((meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR) &&
(meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR))
{
UrdfMaterialColor matCol;
matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0],
meshData.m_rgbaColor[1],
meshData.m_rgbaColor[2],
meshData.m_rgbaColor[3]);
matCol.m_specularColor.setValue(meshData.m_specularColor[0],
meshData.m_specularColor[1],
meshData.m_specularColor[2]);
m_linkColors.insert(linkIndex, matCol);
}
}
if (vertices.size() && indices.size())
@@ -4462,6 +4497,7 @@ bool PhysicsServerCommandProcessor::processCreateVisualShapeCommand(const struct
}
else
{
visualShape.m_geometry.m_localMaterial.m_matColor.m_rgbaColor.setValue(1,1,1,1);
}
if (hasSpecular)
{
@@ -6641,7 +6677,14 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
{
m_data->m_sdfRecentLoadedBodies.clear();
ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data);
int flags = 0;
if (clientCmd.m_updateFlags & MULT_BODY_HAS_FLAGS)
{
flags = clientCmd.m_createMultiBodyArgs.m_flags;
}
ProgrammaticUrdfInterface u2b(clientCmd.m_createMultiBodyArgs, m_data, flags);
bool useMultiBody = true;
if (clientCmd.m_updateFlags & MULT_BODY_USE_MAXIMAL_COORDINATES)
@@ -6649,12 +6692,7 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
useMultiBody = false;
}
int flags = 0;
if (clientCmd.m_updateFlags & MULT_BODY_HAS_FLAGS)
{
flags = clientCmd.m_createMultiBodyArgs.m_flags;
}
bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);