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

OpenVR controller can pick/drag objects. Instructions, Windows only:

Browse Source 
Compile using premake+visual studio, and compile App_SharedMemoryPhysics_VR
Compile pybullet using cmake using cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
Create a symbolic link from c:\python\dlls\pybullet.pyd to C:\develop\bullet3\cmp\lib\Release\pybullet.dll
App_SharedMemoryPhysics_VR
Run Python. Here are some Python lines to get going:
import pybullet as p
p.connect(p.SHARED_MEMORY)
p.loadURDF("cube.urdf")
p.setGravity(0,0,-10)
p.setRealTimeSimulation(1)

Allow real-time simulation in physics server, add pybullet command setRealTimeSimulation to control it
Mesh decimation (reduce number of triangles/vertices) using a Blender modifier for Kuka IIWA and Husky
Disabled the 'glFlush' commands in GLInstancingRenderer.
Add VR controller methods to examples\CommonInterfaces\CommonExampleInterface.h
Use the ANSI version in Windows file/string operations instead of unicode, hope this doesn't break builds.
This commit is contained in:
erwin coumans
2016-07-17 23:50:11 -07:00
parent e1e76c19a3
commit c28cd03fbd
32 changed files with 295 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -115,6 +115,15 @@ int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, doub
return 0;
}
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_allowRealTimeSimulation = enableRealTimeSimulation;
command->m_updateFlags |= SIM_PARAM_UPDATE_REAL_TIME_SIMULATION;
return 0;
}
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -81,6 +81,7 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);

37
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -374,6 +374,8 @@ struct PhysicsServerCommandProcessorInternalData
///end handle management
bool m_allowRealTimeSimulation;
bool m_hasGround;
CommandLogger* m_commandLogger;
CommandLogPlayback* m_logPlayback;
@@ -417,7 +419,8 @@ struct PhysicsServerCommandProcessorInternalData
TinyRendererVisualShapeConverter m_visualConverter;
PhysicsServerCommandProcessorInternalData()
:
:m_hasGround(false),
m_allowRealTimeSimulation(false),
m_commandLogger(0),
m_logPlayback(0),
m_physicsDeltaTime(1./240.),
@@ -496,6 +499,9 @@ void PhysicsServerCommandProcessor::setGuiHelper(struct GUIHelperInterface* guiH
}
}
m_data->m_guiHelper = guiHelper;
}
@@ -504,6 +510,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
m_data = new PhysicsServerCommandProcessorInternalData();
createEmptyDynamicsWorld();
}
PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
@@ -983,7 +990,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
bool hasStatus = false;
{
@@ -1768,6 +1775,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
m_data->m_physicsDeltaTime = clientCmd.m_physSimParamArgs.m_deltaTime;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_REAL_TIME_SIMULATION)
{
m_data->m_allowRealTimeSimulation = clientCmd.m_physSimParamArgs.m_allowRealTimeSimulation;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_GRAVITY)
{
btVector3 grav(clientCmd.m_physSimParamArgs.m_gravityAcceleration[0],
@@ -1873,7 +1884,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_RESET_SIMULATION_COMPLETED;
hasStatus = true;
m_data->m_hasGround = false;
break;
}
case CMD_CREATE_RIGID_BODY:
@@ -2307,6 +2318,26 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
m_data->m_logPlayback = pb;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
if (m_data->m_allowRealTimeSimulation)
{
if (!m_data->m_hasGround)
{
m_data->m_hasGround = true;
int bodyId = 0;
btAlignedObjectArray<char> bufferServerToClient;
bufferServerToClient.resize(32768);
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size());
}
m_data->m_dynamicsWorld->stepSimulation(dtInSec);
}
}
void PhysicsServerCommandProcessor::applyJointDamping(int bodyUniqueId)
{
InteralBodyData* body = m_data->getHandle(bodyUniqueId);

3
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@@ -53,7 +53,8 @@ public:
void enableCommandLogging(bool enable, const char* fileName);
void replayFromLogFile(const char* fileName);
void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
void stepSimulationRealTime(double dtInSec);
void applyJointDamping(int bodyUniqueId);
};

106
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -9,11 +9,12 @@
#include "PhysicsServerSharedMemory.h"
#include "SharedMemoryCommon.h"
#include "Bullet3Common/b3Matrix3x3.h"
#include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h"
void MotionThreadFunc(void* userPtr,void* lsMemory);
void* MotionlsMemoryFunc();
#define MAX_MOTION_NUM_THREADS 1
@@ -80,13 +81,23 @@ b3ThreadSupportInterface* createMotionThreadSupport(int numThreads)
struct MotionArgs
{
MotionArgs()
:m_physicsServerPtr(0)
:m_physicsServerPtr(0),
m_isPicking(false),
m_isDragging(false),
m_isReleasing(false)
{
}
b3CriticalSection* m_cs;
PhysicsServerSharedMemory* m_physicsServerPtr;
b3AlignedObjectArray<b3Vector3> m_positions;
btVector3 m_pos;
btQuaternion m_orn;
bool m_isPicking;
bool m_isDragging;
bool m_isReleasing;
};
struct MotionThreadLocalStorage
@@ -113,23 +124,58 @@ void MotionThreadFunc(void* userPtr,void* lsMemory)
args->m_cs->setSharedParam(0,eMotionIsInitialized);
args->m_cs->unlock();
do
{
//todo(erwincoumans): do we want some sleep to reduce CPU resources in this thread?
#if 0
double deltaTimeInSeconds = double(clock.getTimeMicroseconds())/1000000.;
if (deltaTimeInSeconds<(1./260.))
if (deltaTimeInSeconds<(1./5000.))
{
skip++;
if (deltaTimeInSeconds<.001)
continue;
} else
{
//process special controller commands, such as
//VR controller button press/release and controller motion
btVector3 from = args->m_pos;
btMatrix3x3 mat(args->m_orn);
btVector3 toX = args->m_pos+mat.getColumn(0);
btVector3 toY = args->m_pos+mat.getColumn(1);
btVector3 toZ = args->m_pos+mat.getColumn(2)*50.;
if (args->m_isPicking)
{
args->m_isPicking = false;
args->m_isDragging = true;
args->m_physicsServerPtr->pickBody(from,-toZ);
//printf("PICK!\n");
}
if (args->m_isDragging)
{
args->m_physicsServerPtr->movePickedBody(from,-toZ);
// printf(".");
}
if (args->m_isReleasing)
{
args->m_isDragging = false;
args->m_isReleasing = false;
args->m_physicsServerPtr->removePickingConstraint();
//printf("Release pick\n");
}
//don't simulate over a huge timestep if we had some interruption (debugger breakpoint etc)
btClamp(deltaTimeInSeconds,0.,0.1);
args->m_physicsServerPtr->stepSimulationRealTime(deltaTimeInSeconds);
clock.reset();
}
clock.reset();
#endif
args->m_physicsServerPtr->processClientCommands();
} while (args->m_cs->getSharedParam(0)!=eRequestTerminateMotion);
} else
{
@@ -375,7 +421,7 @@ class PhysicsServerExample : public SharedMemoryCommon
btClock m_clock;
bool m_replay;
int m_options;
public:
PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
@@ -417,6 +463,9 @@ public:
btVector3 getRayTo(int x,int y);
virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]);
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4]);
virtual bool mouseMoveCallback(float x,float y)
{
if (m_replay)
@@ -720,6 +769,28 @@ void PhysicsServerExample::renderScene()
//m_args[0].m_cs->lock();
m_physicsServer.renderScene();
if (m_args[0].m_isPicking || m_args[0].m_isDragging)
{
btVector3 from = m_args[0].m_pos;
btMatrix3x3 mat(m_args[0].m_orn);
btVector3 toX = m_args[0].m_pos+mat.getColumn(0);
btVector3 toY = m_args[0].m_pos+mat.getColumn(1);
btVector3 toZ = m_args[0].m_pos+mat.getColumn(2);
int width = 2;
btVector4 color;
color=btVector4(1,0,0,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toX,color,width);
color=btVector4(0,1,0,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toY,color,width);
color=btVector4(0,0,1,1);
m_guiHelper->getAppInterface()->m_renderer->drawLine(from,toZ,color,width);
}
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
@@ -856,4 +927,17 @@ class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOpt
}
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)
void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orn[4])
{
m_args[0].m_isPicking = (state!=0);
m_args[0].m_isReleasing = (state==0);
m_args[0].m_pos.setValue(pos[0],pos[1],pos[2]);
m_args[0].m_orn.setValue(orn[0],orn[1],orn[2],orn[3]);
}
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4])
{
m_args[0].m_pos.setValue(pos[0],pos[1],pos[2]);
m_args[0].m_orn.setValue(orn[0],orn[1],orn[2],orn[3]);
}
B3_STANDALONE_EXAMPLE(PhysicsServerCreateFunc)

6
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -236,8 +236,10 @@ void PhysicsServerSharedMemory::releaseSharedMemory()
}
void PhysicsServerSharedMemory::stepSimulationRealTime(double dtInSec)
{
m_data->m_commandProcessor->stepSimulationRealTime(dtInSec);
}
void PhysicsServerSharedMemory::processClientCommands()

2
examples/SharedMemory/PhysicsServerSharedMemory.h
View File

@@ -26,6 +26,8 @@ public:
virtual void processClientCommands();
virtual void stepSimulationRealTime(double dtInSec);
//bool supportsJointMotor(class btMultiBody* body, int linkIndex);
//@todo(erwincoumans) Should we have shared memory commands for picking objects?

2
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -215,6 +215,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_GRAVITY=2,
SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4,
SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
};
///Controlling a robot involves sending the desired state to its joint motor controllers.
@@ -225,6 +226,7 @@ struct SendPhysicsSimulationParameters
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
int m_numSolverIterations;
bool m_allowRealTimeSimulation;
};
struct RequestActualStateArgs