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fixes in pybullet.loadTexture, changeVisualShape replacing texture.

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(also works for OpenGL3 renderer now)
This commit is contained in:
Erwin Coumans
2017-06-30 13:35:07 -07:00
parent dcaaed9238
commit dd3d55610b
14 changed files with 275 additions and 76 deletions
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3
examples/CommonInterfaces/CommonGUIHelperInterface.h
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@@ -41,6 +41,9 @@ struct GUIHelperInterface
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {} virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {} virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
virtual int getShapeIndexFromInstance(int instanceUid){return -1;}
virtual void replaceTexture(int shapeIndex, int textureUid){}
virtual Common2dCanvasInterface* get2dCanvasInterface()=0; virtual Common2dCanvasInterface* get2dCanvasInterface()=0;

3
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -70,6 +70,9 @@ struct CommonRenderInterface
virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true)=0; virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true)=0;
virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true)=0; virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true)=0;
virtual void activateTexture(int textureIndex)=0; virtual void activateTexture(int textureIndex)=0;
virtual void replaceTexture(int shapeIndex, int textureIndex){};
virtual int getShapeIndexFromInstance(int srcIndex) {return -1;}
virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)=0; virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)=0;

12
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -318,6 +318,18 @@ void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
}; };
} }
int OpenGLGuiHelper::getShapeIndexFromInstance(int instanceUid)
{
return m_data->m_glApp->m_renderer->getShapeIndexFromInstance(instanceUid);
}
void OpenGLGuiHelper::replaceTexture(int shapeIndex, int textureUid)
{
if (shapeIndex>=0)
{
m_data->m_glApp->m_renderer->replaceTexture(shapeIndex, textureUid);
};
}
void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4]) void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
{ {
if (instanceUid>=0) if (instanceUid>=0)

3
examples/ExampleBrowser/OpenGLGuiHelper.h
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@@ -29,6 +29,9 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]); virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
virtual void changeSpecularColor(int instanceUid, const double specularColor[3]); virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
virtual int getShapeIndexFromInstance(int instanceUid);
virtual void replaceTexture(int shapeIndex, int textureUid);
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape); virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld); virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);

20
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -392,6 +392,15 @@ GLInstancingRenderer::~GLInstancingRenderer()
int GLInstancingRenderer::getShapeIndexFromInstance(int srcIndex)
{
b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex);
if (pg)
{
return pg->m_shapeIndex;
}
return -1;
}
@@ -955,6 +964,17 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
} }
void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
{
if (shapeIndex >=0 && shapeIndex < m_data->m_textureHandles.size())
{
b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
if (textureId>=0)
{
gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture;
}
}
}
void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY) void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY)
{ {

3
examples/OpenGLWindow/GLInstancingRenderer.h
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@@ -67,7 +67,8 @@ public:
virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true); virtual int registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY=true);
virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true); virtual void updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY=true);
virtual void activateTexture(int textureIndex); virtual void activateTexture(int textureIndex);
virtual void replaceTexture(int shapeIndex, int textureId);
virtual int getShapeIndexFromInstance(int srcIndex);
///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z ///position x,y,z, quaternion x,y,z,w, color r,g,b,a, scaling x,y,z
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling); virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);

12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2938,6 +2938,18 @@ b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient,
return (b3SharedMemoryCommandHandle) command; return (b3SharedMemoryCommandHandle) command;
} }
int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle)
{
int uid = -1;
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
btAssert(status->m_type == CMD_LOAD_TEXTURE_COMPLETED);
if (status->m_type == CMD_LOAD_TEXTURE_COMPLETED)
{
uid = status->m_loadTextureResultArguments.m_textureUniqueId;
}
return uid;
}
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
{ {
PhysicsClient* cl = (PhysicsClient* ) physClient; PhysicsClient* cl = (PhysicsClient* ) physClient;

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -217,6 +217,9 @@ b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientH
void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo); void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename); b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId); b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]); void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);
void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]); void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, double specularColor[3]);

169
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -20,7 +20,7 @@
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h" #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "Bullet3Common/b3HashMap.h" #include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h" #include "../Utils/ChromeTraceUtil.h"
#include "stb_image/stb_image.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp" #include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h" #include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h" #include "btBulletDynamicsCommon.h"
@@ -129,7 +129,7 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
} }
}; };
struct InteralCollisionShapeData struct InternalCollisionShapeData
{ {
btCollisionShape* m_collisionShape; btCollisionShape* m_collisionShape;
b3AlignedObjectArray<UrdfCollision> m_urdfCollisionObjects; b3AlignedObjectArray<UrdfCollision> m_urdfCollisionObjects;
@@ -139,7 +139,7 @@ struct InteralCollisionShapeData
} }
}; };
struct InteralBodyData struct InternalBodyData
{ {
btMultiBody* m_multiBody; btMultiBody* m_multiBody;
btRigidBody* m_rigidBody; btRigidBody* m_rigidBody;
@@ -152,7 +152,7 @@ struct InteralBodyData
b3HashMap<btHashInt, SDFAudioSource> m_audioSources; b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
#endif //B3_ENABLE_TINY_AUDIO #endif //B3_ENABLE_TINY_AUDIO
InteralBodyData() InternalBodyData()
{ {
clear(); clear();
} }
@@ -183,8 +183,20 @@ struct InteralUserConstraintData
} }
}; };
typedef b3PoolBodyHandle<InteralBodyData> InternalBodyHandle; struct InternalTextureData
typedef b3PoolBodyHandle<InteralCollisionShapeData> InternalCollisionShapeHandle; {
int m_tinyRendererTextureId;
int m_openglTextureId;
void clear()
{
m_tinyRendererTextureId = -1;
m_openglTextureId = -1;
}
};
typedef b3PoolBodyHandle<InternalTextureData> InternalTextureHandle;
typedef b3PoolBodyHandle<InternalBodyData> InternalBodyHandle;
typedef b3PoolBodyHandle<InternalCollisionShapeData> InternalCollisionShapeHandle;
class btCommandChunk class btCommandChunk
{ {
@@ -1145,6 +1157,7 @@ struct ContactPointsStateLogger : public InternalStateLogger
struct PhysicsServerCommandProcessorInternalData struct PhysicsServerCommandProcessorInternalData
{ {
///handle management ///handle management
b3ResizablePool< InternalTextureHandle > m_textureHandles;
b3ResizablePool< InternalBodyHandle > m_bodyHandles; b3ResizablePool< InternalBodyHandle > m_bodyHandles;
b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles; b3ResizablePool<InternalCollisionShapeHandle> m_userCollisionShapeHandles;
@@ -1269,7 +1282,7 @@ struct PhysicsServerCommandProcessorInternalData
int handle = allocHandle(); int handle = allocHandle();
bla.push_back(handle); bla.push_back(handle);
InternalBodyHandle* body = getHandle(handle); InternalBodyHandle* body = getHandle(handle);
InteralBodyData* body2 = body; InternalBodyData* body2 = body;
} }
for (int i=0;i<bla.size();i++) for (int i=0;i<bla.size();i++)
{ {
@@ -1283,7 +1296,7 @@ struct PhysicsServerCommandProcessorInternalData
int handle = allocHandle(); int handle = allocHandle();
bla.push_back(handle); bla.push_back(handle);
InternalBodyHandle* body = getHandle(handle); InternalBodyHandle* body = getHandle(handle);
InteralBodyData* body2 = body; InternalBodyData* body2 = body;
} }
for (int i=0;i<bla.size();i++) for (int i=0;i<bla.size();i++)
{ {
@@ -1296,7 +1309,7 @@ struct PhysicsServerCommandProcessorInternalData
int handle = allocHandle(); int handle = allocHandle();
bla.push_back(handle); bla.push_back(handle);
InternalBodyHandle* body = getHandle(handle); InternalBodyHandle* body = getHandle(handle);
InteralBodyData* body2 = body; InternalBodyData* body2 = body;
} }
for (int i=0;i<bla.size();i++) for (int i=0;i<bla.size();i++)
{ {
@@ -2679,7 +2692,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID)&& (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0)) if ((clientCmd.m_updateFlags & STATE_LOGGING_FILTER_OBJECT_UNIQUE_ID)&& (clientCmd.m_stateLoggingArguments.m_numBodyUniqueIds>0))
{ {
int bodyUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[0]; int bodyUniqueId = clientCmd.m_stateLoggingArguments.m_bodyUniqueIds[0];
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body) if (body)
{ {
if (body->m_multiBody) if (body->m_multiBody)
@@ -3256,7 +3269,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
for (int i=0;i<usedHandles.size();i++) for (int i=0;i<usedHandles.size();i++)
{ {
int usedHandle = usedHandles[i]; int usedHandle = usedHandles[i];
InteralBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle); InternalBodyData* body = m_data->m_bodyHandles.getHandle(usedHandle);
if (body && (body->m_multiBody || body->m_rigidBody)) if (body && (body->m_multiBody || body->m_rigidBody))
{ {
serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle; serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[actualNumBodies++] = usedHandle;
@@ -3345,7 +3358,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{ {
{ {
int bodyUniqueId = sd.m_bodyUniqueIds[i]; int bodyUniqueId = sd.m_bodyUniqueIds[i];
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body) if (body)
{ {
if (body->m_multiBody) if (body->m_multiBody)
@@ -3959,7 +3972,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize(); serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
} }
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
} }
} }
@@ -4024,7 +4037,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize(); serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
} }
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId; serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str()); strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
hasStatus = true; hasStatus = true;
@@ -4096,7 +4109,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Processed CMD_CREATE_SENSOR"); b3Printf("Processed CMD_CREATE_SENSOR");
} }
int bodyUniqueId = clientCmd.m_createSensorArguments.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_createSensorArguments.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody) if (body && body->m_multiBody)
{ {
btMultiBody* mb = body->m_multiBody; btMultiBody* mb = body->m_multiBody;
@@ -4216,7 +4229,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody) if (body && body->m_multiBody)
{ {
@@ -4406,7 +4419,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_FAILED; serverStatusOut.m_type = CMD_REQUEST_COLLISION_INFO_FAILED;
hasStatus=true; hasStatus=true;
int bodyUniqueId = clientCmd.m_requestCollisionInfoArgs.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_requestCollisionInfoArgs.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody) if (body && body->m_multiBody)
@@ -4507,7 +4520,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Sending the actual state (Q,U)"); b3Printf("Sending the actual state (Q,U)");
} }
int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_requestActualStateInformationCommandArgument.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody) if (body && body->m_multiBody)
@@ -4824,7 +4837,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btAssert(bodyUniqueId >= 0); btAssert(bodyUniqueId >= 0);
btAssert(linkIndex >= -1); btAssert(linkIndex >= -1);
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody) if (body && body->m_multiBody)
{ {
@@ -5010,7 +5023,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{ {
int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_getDynamicsInfoArgs.m_bodyUniqueId;
int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex; int linkIndex = clientCmd.m_getDynamicsInfoArgs.m_linkIndex;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body && body->m_multiBody) if (body && body->m_multiBody)
{ {
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
@@ -5151,7 +5164,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
b3Printf("Server Init Pose not implemented yet"); b3Printf("Server Init Pose not implemented yet");
} }
int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId; int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
btVector3 baseLinVel(0, 0, 0); btVector3 baseLinVel(0, 0, 0);
btVector3 baseAngVel(0, 0, 0); btVector3 baseAngVel(0, 0, 0);
@@ -5745,7 +5758,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (bodyUniqueIdA >= 0) if (bodyUniqueIdA >= 0)
{ {
InteralBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA); InternalBodyData* bodyA = m_data->m_bodyHandles.getHandle(bodyUniqueIdA);
if (bodyA) if (bodyA)
{ {
if (bodyA->m_multiBody) if (bodyA->m_multiBody)
@@ -5779,7 +5792,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
if (bodyUniqueIdB>=0) if (bodyUniqueIdB>=0)
{ {
InteralBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB); InternalBodyData* bodyB = m_data->m_bodyHandles.getHandle(bodyUniqueIdB);
if (bodyB) if (bodyB)
{ {
if (bodyB->m_multiBody) if (bodyB->m_multiBody)
@@ -6048,7 +6061,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i) for (int i = 0; i < clientCmd.m_externalForceArguments.m_numForcesAndTorques; ++i)
{ {
InteralBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]); InternalBodyData* body = m_data->m_bodyHandles.getHandle(clientCmd.m_externalForceArguments.m_bodyUniqueIds[i]);
bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0); bool isLinkFrame = ((clientCmd.m_externalForceArguments.m_forceFlags[i] & EF_LINK_FRAME) != 0);
if (body && body->m_multiBody) if (body && body->m_multiBody)
@@ -6254,12 +6267,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT) if (clientCmd.m_updateFlags & USER_CONSTRAINT_ADD_CONSTRAINT)
{ {
btScalar defaultMaxForce = 500.0; btScalar defaultMaxForce = 500.0;
InteralBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex); InternalBodyData* parentBody = m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_parentBodyIndex);
if (parentBody && parentBody->m_multiBody) if (parentBody && parentBody->m_multiBody)
{ {
if ((clientCmd.m_userConstraintArguments.m_parentJointIndex>=-1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks()) if ((clientCmd.m_userConstraintArguments.m_parentJointIndex>=-1) && clientCmd.m_userConstraintArguments.m_parentJointIndex < parentBody->m_multiBody->getNumLinks())
{ {
InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0; InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
//also create a constraint with just a single multibody/rigid body without child //also create a constraint with just a single multibody/rigid body without child
//if (childBody) //if (childBody)
{ {
@@ -6413,7 +6426,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
} }
else else
{ {
InteralBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0; InternalBodyData* childBody = clientCmd.m_userConstraintArguments.m_childBodyIndex>=0 ? m_data->m_bodyHandles.getHandle(clientCmd.m_userConstraintArguments.m_childBodyIndex):0;
if (parentBody && childBody) if (parentBody && childBody)
{ {
@@ -6762,12 +6775,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE"); BT_PROFILE("CMD_UPDATE_VISUAL_SHAPE");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED; serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
InternalTextureHandle* texHandle = 0;
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{ {
texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0) if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0)
{ {
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId); if (texHandle)
{
m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, texHandle->m_tinyRendererTextureId);
}
} }
} }
@@ -6784,10 +6803,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{ {
if (bodyHandle->m_multiBody->getBaseCollider()) if (bodyHandle->m_multiBody->getBaseCollider())
{ {
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex(); int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
if (texHandle)
{
int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{ {
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
} }
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
@@ -6802,10 +6829,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{ {
if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider) if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
{ {
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex(); int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
{
if (texHandle)
{
int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
m_data->m_guiHelper->replaceTexture(shapeIndex,texHandle->m_openglTextureId);
}
}
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
{ {
m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor); m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
} }
if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR) if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_SPECULAR_COLOR)
@@ -6828,25 +6863,59 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break; break;
} }
case CMD_LOAD_TEXTURE: case CMD_LOAD_TEXTURE:
{ {
BT_PROFILE("CMD_LOAD_TEXTURE"); BT_PROFILE("CMD_LOAD_TEXTURE");
SharedMemoryStatus& serverCmd = serverStatusOut; SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
int uid = m_data->m_visualConverter.loadTextureFile(clientCmd.m_loadTextureArguments.m_textureFileName); char relativeFileName[1024];
char pathPrefix[1024];
if (uid>=0)
{ if(b3ResourcePath::findResourcePath(clientCmd.m_loadTextureArguments.m_textureFileName,relativeFileName,1024))
serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED; {
} else b3FileUtils::extractPath(relativeFileName,pathPrefix,1024);
{
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED; int texHandle = m_data->m_textureHandles.allocHandle();
} InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
hasStatus = true; if(texH)
{
break; texH->m_tinyRendererTextureId = -1;
} texH->m_openglTextureId = -1;
int uid = m_data->m_visualConverter.loadTextureFile(relativeFileName);
if(uid>=0)
{
int m_tinyRendererTextureId;
texH->m_tinyRendererTextureId = uid;
}
{
int width,height,n;
unsigned char* imageData= stbi_load(relativeFileName,&width,&height,&n,3);
if(imageData)
{
texH->m_openglTextureId = m_data->m_guiHelper->registerTexture(imageData,width,height);
free(imageData);
}
else
{
b3Warning("Unsupported texture image format [%s]\n",relativeFileName);
}
}
serverCmd.m_loadTextureResultArguments.m_textureUniqueId = texHandle;
serverCmd.m_type = CMD_LOAD_TEXTURE_COMPLETED;
}
}
else
{
serverCmd.m_type = CMD_LOAD_TEXTURE_FAILED;
}
hasStatus = true;
break;
}
case CMD_LOAD_BULLET: case CMD_LOAD_BULLET:
{ {
@@ -7041,7 +7110,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR)) if ((clientCmd.m_updateFlags & USER_DEBUG_SET_CUSTOM_OBJECT_COLOR) || (clientCmd.m_updateFlags & USER_DEBUG_REMOVE_CUSTOM_OBJECT_COLOR))
{ {
int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId; int bodyUniqueId = clientCmd.m_userDebugDrawArgs.m_objectUniqueId;
InteralBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId); InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
if (body) if (body)
{ {
btCollisionObject* destColObj = 0; btCollisionObject* destColObj = 0;

43
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -131,6 +131,8 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperChangeGraphicsInstanceRGBAColor, eGUIHelperChangeGraphicsInstanceRGBAColor,
eGUIHelperChangeGraphicsInstanceSpecularColor, eGUIHelperChangeGraphicsInstanceSpecularColor,
eGUIHelperSetVisualizerFlag, eGUIHelperSetVisualizerFlag,
eGUIHelperChangeGraphicsInstanceTextureId,
eGUIHelperGetShapeIndexFromInstance,
}; };
@@ -932,6 +934,29 @@ public:
m_cs->setSharedParam(1,eGUIHelperRemoveGraphicsInstance); m_cs->setSharedParam(1,eGUIHelperRemoveGraphicsInstance);
workerThreadWait(); workerThreadWait();
} }
int m_getShapeIndex_instance;
int getShapeIndex_shapeIndex;
virtual int getShapeIndexFromInstance(int instance)
{
m_getShapeIndex_instance = instance;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperGetShapeIndexFromInstance);
workerThreadWait();
return getShapeIndex_shapeIndex;
}
int m_graphicsInstanceChangeTextureId;
int m_graphicsInstanceChangeTextureShapeIndex;
virtual void replaceTexture(int shapeIndex, int textureUid)
{
m_graphicsInstanceChangeTextureShapeIndex = shapeIndex;
m_graphicsInstanceChangeTextureId = textureUid;
m_cs->lock();
m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceTextureId);
workerThreadWait();
}
double m_rgbaColor[4]; double m_rgbaColor[4];
int m_graphicsInstanceChangeColor; int m_graphicsInstanceChangeColor;
@@ -1913,6 +1938,24 @@ void PhysicsServerExample::updateGraphics()
break; break;
} }
case eGUIHelperGetShapeIndexFromInstance:
{
m_multiThreadedHelper->getShapeIndex_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->getShapeIndexFromInstance(m_multiThreadedHelper->m_getShapeIndex_instance);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceTextureId:
{
m_multiThreadedHelper->m_childGuiHelper->replaceTexture(
m_multiThreadedHelper->m_graphicsInstanceChangeTextureShapeIndex,
m_multiThreadedHelper->m_graphicsInstanceChangeTextureId);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceRGBAColor: case eGUIHelperChangeGraphicsInstanceRGBAColor:
{ {
m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor); m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor);

6
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -283,6 +283,11 @@ struct LoadTextureArgs
char m_textureFileName[MAX_FILENAME_LENGTH]; char m_textureFileName[MAX_FILENAME_LENGTH];
}; };
struct b3LoadTextureResultArgs
{
int m_textureUniqueId;
};
struct SendVisualShapeDataArgs struct SendVisualShapeDataArgs
{ {
int m_bodyUniqueId; int m_bodyUniqueId;
@@ -1015,6 +1020,7 @@ struct SharedMemoryStatus
struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs; struct b3CreateMultiBodyResultArgs m_createMultiBodyResultArgs;
struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs; struct b3SendCollisionInfoArgs m_sendCollisionInfoArgs;
struct SendMouseEvents m_sendMouseEvents; struct SendMouseEvents m_sendMouseEvents;
struct b3LoadTextureResultArgs m_loadTextureResultArguments;
}; };
}; };

43
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -1070,12 +1070,15 @@ void TinyRendererVisualShapeConverter::resetAll()
void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId) void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
{ {
btAssert(textureUniqueId < m_data->m_textures.size()); btAssert(textureUniqueId < m_data->m_textures.size());
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId); if (textureUniqueId>=0 && textureUniqueId<m_data->m_textures.size())
if (ptrptr && *ptrptr) {
{ TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId);
TinyRendererObjectArray* ptr = *ptrptr; if (ptrptr && *ptrptr)
ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height); {
} TinyRendererObjectArray* ptr = *ptrptr;
ptr->m_renderObjects[0]->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData,m_data->m_textures[textureUniqueId].m_width,m_data->m_textures[textureUniqueId].m_height);
}
}
} }
void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId) void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
@@ -1085,18 +1088,26 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId,
{ {
if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex) if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex)
{ {
start = i; if (shapeIndex<0)
break; {
} activateShapeTexture(i, textureUniqueId);
} } else
{
if (start >= 0) start = i;
{ break;
if (start + shapeIndex < m_data->m_visualShapes.size()) }
{
activateShapeTexture(start + shapeIndex, textureUniqueId);
} }
} }
if (shapeIndex>=0)
{
if (start >= 0)
{
if (start + shapeIndex < m_data->m_visualShapes.size())
{
activateShapeTexture(start + shapeIndex, textureUniqueId);
}
}
}
} }
int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height) int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)

7
examples/pybullet/pybullet.c
View File

@@ -4578,6 +4578,9 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
statusType = b3GetStatusType(statusHandle); statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_LOAD_TEXTURE_COMPLETED) if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
{ {
PyObject* item;
item = PyInt_FromLong(b3GetStatusTextureUniqueId(statusHandle));
return item;
} }
else else
{ {
@@ -4586,8 +4589,8 @@ static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject*
} }
} }
Py_INCREF(Py_None); PyErr_SetString(SpamError, "Error loading texture");
return Py_None; return NULL;
} }
static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPointPtr) static PyObject* MyConvertContactPoint(struct b3ContactInformation* contactPointPtr)

24
src/LinearMath/btHashMap.h
View File

@@ -389,28 +389,38 @@ protected:
const Value* getAtIndex(int index) const const Value* getAtIndex(int index) const
{ {
btAssert(index < m_valueArray.size()); btAssert(index < m_valueArray.size());
btAssert(index>=0);
return &m_valueArray[index]; if (index>=0 && index < m_valueArray.size())
{
return &m_valueArray[index];
}
return 0;
} }
Value* getAtIndex(int index) Value* getAtIndex(int index)
{ {
btAssert(index < m_valueArray.size()); btAssert(index < m_valueArray.size());
btAssert(index>=0);
return &m_valueArray[index]; if (index>=0 && index < m_valueArray.size())
{
return &m_valueArray[index];
}
return 0;
} }
Key getKeyAtIndex(int index) Key getKeyAtIndex(int index)
{ {
btAssert(index < m_keyArray.size()); btAssert(index < m_keyArray.size());
return m_keyArray[index]; btAssert(index>=0);
return m_keyArray[index];
} }
const Key getKeyAtIndex(int index) const const Key getKeyAtIndex(int index) const
{ {
btAssert(index < m_keyArray.size()); btAssert(index < m_keyArray.size());
return m_keyArray[index]; btAssert(index>=0);
} return m_keyArray[index];
}
Value* operator[](const Key& key) { Value* operator[](const Key& key) {