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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
Benjamin Ellenberger
2016-06-04 11:36:43 +02:00
parent 79be214d08 68932b0c0a
commit dfb2c51dc7
87 changed files with 10795 additions and 873 deletions
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4
Extras/InverseDynamics/btMultiBodyFromURDF.hpp
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@@ -12,6 +12,7 @@
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
/// Create a btMultiBody model from URDF.
/// This is adapted from Bullet URDF loader example
class MyBtMultiBodyFromURDF {
@@ -44,7 +45,8 @@ public:
void init() {
this->createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(m_gravity);
BulletURDFImporter urdf_importer(&m_nogfx);
BulletURDFImporter urdf_importer(&m_nogfx, 0);
URDFImporterInterface &u2b(urdf_importer);
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);

12
build3/premake4.lua
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@@ -105,6 +105,17 @@
description = "Do not build bullet3 libs"
}
newoption
{
trigger = "double",
description = "Double precision version of Bullet"
}
if _OPTIONS["double"] then
defines {"BT_USE_DOUBLE_PRECISION"}
end
configurations {"Release", "Debug"}
configuration "Release"
flags { "Optimize", "EnableSSE2","StaticRuntime", "NoMinimalRebuild", "FloatFast"}
@@ -194,6 +205,7 @@
include "../examples/HelloWorld"
include "../examples/BasicDemo"
include "../examples/InverseDynamics"
include "../examples/ExtendedTutorials"
include "../examples/SharedMemory"
include "../examples/MultiThreading"

18
build3/stringify.sh
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@@ -51,18 +51,18 @@ eval '$mypremake --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.cl" --headerfile="../src/Bullet3OpenCL/Raycast/kernels/rayCastKernels.h" --stringname="rayCastKernelCL" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingVS.h" --stringname="instancingVertexShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/instancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/instancingPS.h" --stringname="instancingFragmentShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpriteVS.h" --stringname="pointSpriteVertexShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/pointSpritePS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/pointSpritePS.h" --stringname="pointSpriteFragmentShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingPS.h" --stringname="createShadowMapInstancingFragmentShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/createShadowMapInstancingVS.h" --stringname="createShadowMapInstancingVertexShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../btgui/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../Demos3/GpuDemos/broadphase/pairsKernel.cl" --headerfile="../Demos3/GpuDemos/broadphase/pairsKernel.h" --stringname="pairsKernelsCL" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h" --stringname="useShadowMapInstancingFragmentShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.glsl" --headerfile="../examples/OpenGLWindow/Shaders/useShadowMapInstancingVS.h" --stringname="useShadowMapInstancingVertexShader" stringify'
eval '$mypremake --file=stringifyKernel.lua --kernelfile="../examples/OpenCL/broadphase/pairsKernel.cl" --headerfile="../examples/OpenCL/broadphase/pairsKernel.h" --stringname="pairsKernelsCL" stringify'

4
build3/xcode.command
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@@ -1,4 +0,0 @@
cd `dirname $0`
./premake4_osx xcode4

7
build_and_run_cmake.sh Executable file
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@@ -0,0 +1,7 @@
#!/bin/sh
rm CMakeCache.txt
mkdir build_cmake
cd build_cmake
cmake ..
make -j12
examples/ExampleBrowser/App_ExampleBrowser

7
build_and_run_premake.sh Executable file
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@@ -0,0 +1,7 @@
#!/bin/sh
cd build3
./premake4_linux64 gmake
./premake4_osx gmake
cd gmake
make -j12
../../bin/App_BulletExampleBrowser_gmake_x64_release

3
build3/vs2010.bat → build_visual_studio.bat
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@@ -1,6 +1,7 @@
rem premake4 --with-pe vs2010
rem premake4 --bullet2demos vs2010
cd build3
premake4 --targetdir="../bin" vs2010
rem premake4 --targetdir="../server2bin" vs2010
rem cd vs2010
@@ -13,6 +14,6 @@ rem cd vs2010
rem rename 0_Bullet3Solution.sln 0_client.sln
rem cd ..
rem rename vs2010 vs2010_client
start vs2010/0_Bullet3Solution.sln
pause

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4
data/cube.mtl
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@@ -9,6 +9,6 @@ newmtl cube
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka cube.png
map_Kd cube.png
map_Ka cube.tga
map_Kd floor_diffuse.tga

12
data/kuka_iiwa/model.urdf
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@@ -47,6 +47,10 @@
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Blue">
<color rgba="0.5 0.7 1.0 1.0"/>
</material>
<!--Import the lbr iiwa macro -->
<!--Import Transmissions -->
<!--Include Utilities -->
@@ -97,7 +101,7 @@
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
<material name="Orange"/>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -126,7 +130,7 @@
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
<material name="Orange"/>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -184,7 +188,7 @@
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
<material name="Orange"/>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -213,7 +217,7 @@
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
<material name="Orange"/>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>

11
data/textured_sphere.mtl Normal file
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@@ -0,0 +1,11 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd checker_grid.jpg

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data/textured_sphere_flat.obj Normal file
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File diff suppressed because it is too large Load Diff

11
data/textured_sphere_smooth.mtl Normal file
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@@ -0,0 +1,11 @@
# Blender MTL File: 'None'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd checker_huge.gif

3725
data/textured_sphere_smooth.obj Normal file
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File diff suppressed because it is too large Load Diff

32
examples/BasicDemo/premake4.lua
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@@ -101,3 +101,35 @@ if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_BasicExampleTinyRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletDynamics","BulletCollision", "LinearMath", "Bullet3Common"
}
language "C++"
files {
"BasicExample.cpp",
"*.h",
"../StandaloneMain/main_tinyrenderer_single_example.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../OpenGLWindow/SimpleCamera.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp"
}

2
examples/CommonInterfaces/CommonCameraInterface.h
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@@ -6,6 +6,8 @@ struct CommonCameraInterface
virtual void getCameraProjectionMatrix(float m[16])const = 0;
virtual void getCameraViewMatrix(float m[16]) const = 0;
virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16])=0;
virtual void getCameraTargetPosition(float pos[3]) const = 0;
virtual void getCameraPosition(float pos[3]) const = 0;

12
examples/CommonInterfaces/CommonGUIHelperInterface.h
View File

@@ -45,6 +45,8 @@ struct GUIHelperInterface
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)=0;
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)=0;
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) =0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
@@ -103,6 +105,16 @@ struct DummyGUIHelper : public GUIHelperInterface
{
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
}

8
examples/CommonInterfaces/CommonGraphicsAppInterface.h
View File

@@ -15,10 +15,10 @@ struct DrawGridData
int upAxis;
float gridColor[4];
DrawGridData()
DrawGridData(int upAxis=1)
:gridSize(10),
upOffset(0.001f),
upAxis(1)
upAxis(upAxis)
{
gridColor[0] = 0.6f;
gridColor[1] = 0.6f;
@@ -76,6 +76,9 @@ struct CommonGraphicsApp
virtual void dumpNextFrameToPng(const char* pngFilename){}
virtual void dumpFramesToVideo(const char* mp4Filename){}
virtual void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes){};
virtual void getBackgroundColor(float* red, float* green, float* blue) const
{
if (red)
@@ -119,6 +122,7 @@ struct CommonGraphicsApp
virtual void swapBuffer() = 0;
virtual void drawText( const char* txt, int posX, int posY) = 0;
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)=0;
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)=0;
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)=0;
virtual int registerGraphicsUnitSphereShape(EnumSphereLevelOfDetail lod, int textureId=-1) = 0;

2
examples/CommonInterfaces/CommonParameterInterface.h
View File

@@ -40,12 +40,14 @@ struct ButtonParams
const char* m_name;
int m_buttonId;
void* m_userPointer;
bool m_isTrigger;
ButtonParamChangedCallback m_callback;
ButtonParams(const char* name, int buttonId, bool isTrigger)
:m_name(name),
m_buttonId(buttonId),
m_userPointer(0),
m_isTrigger(isTrigger),
m_callback(0)
{
}

2
examples/ExampleBrowser/CMakeLists.txt
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@@ -124,6 +124,8 @@ SET(BulletExampleBrowser_SRCS
../TinyRenderer/tgaimage.cpp
../TinyRenderer/our_gl.cpp
../TinyRenderer/TinyRenderer.cpp
../SharedMemory/TinyRendererVisualShapeConverter.cpp
../SharedMemory/TinyRendererVisualShapeConverter.h
../RenderingExamples/TinyRendererSetup.cpp
../SharedMemory/PhysicsServer.cpp
../SharedMemory/PhysicsClientSharedMemory.cpp

11
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -229,15 +229,21 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Experiments"),
ExampleEntry(1,"Robot Control", "Create a physics client and server to create and control robots.",
PhysicsClientCreateFunc, eCLIENTEXAMPLE_SERVER),
ExampleEntry(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntry(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1, "Physics Client", "Create a physics client that can communicate with a physics server over shared memory", PhysicsClientCreateFunc),
#ifdef ENABLE_LUA
ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
LuaDemoCreateFunc),
@@ -268,9 +274,6 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"Simple Cloth", "Creating a simple piece of cloth", ET_SimpleClothCreateFunc),
ExampleEntry(1,"Simple Chain", "Creating a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),
ExampleEntry(1,"Simple Bridge", "Creating a simple bridge using a pair of point2point/distance constraints. You may click and drag any plank to see the bridge respond.", ET_BridgeCreateFunc),
ExampleEntry(1,"Inclined Plane","Drop some boxes on an inclined plane",ET_InclinedPlaneCreateFunc),
ExampleEntry(1,"Multi Pendulum","Create a multi pendulum",ET_MultiPendulumCreateFunc),
ExampleEntry(1,"Newtonian Pendulum","Create a newtonian pendulum",ET_NewtonianPendulumCreateFunc),
//todo: create a category/tutorial about advanced topics, such as optimizations, using different collision detection algorithm, different constraint solvers etc.
//ExampleEntry(0,"Advanced"),

6
examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp
View File

@@ -141,6 +141,7 @@ void GwenParameterInterface::registerButtonParameter(ButtonParams& params)
MyButtonEventHandler* handler = new MyButtonEventHandler(params.m_callback,params.m_buttonId,params.m_userPointer);
button->SetText(params.m_name);
button->onPress.Add( handler, &MyButtonEventHandler::onButtonPress );
button->SetIsToggle(params.m_isTrigger);
m_paramInternalData->m_buttons.push_back(button);
m_paramInternalData->m_buttonEventHandlers.push_back(handler);
@@ -190,8 +191,8 @@ void GwenParameterInterface::registerComboBox(ComboBoxParams& params)
combobox->onSelection.Add(handler,&MyComboBoxHander2::onSelect);
int ypos = m_gwenInternalData->m_curYposition;
m_gwenInternalData->m_curYposition+=22;
combobox->SetPos(10, ypos );
combobox->SetWidth( 100 );
combobox->SetPos(5, ypos );
combobox->SetWidth( 220 );
//box->SetPos(120,130);
for (int i=0;i<params.m_numItems;i++)
{
@@ -202,6 +203,7 @@ void GwenParameterInterface::registerComboBox(ComboBoxParams& params)
}
void GwenParameterInterface::registerSliderFloatParameter(SliderParams& params)

3
examples/ExampleBrowser/InProcessExampleBrowser.cpp
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@@ -125,6 +125,9 @@ static ExampleEntryPhysicsServer gDefaultExamplesPhysicsServer[]=
ExampleEntryPhysicsServer(1,"Physics Server", "Create a physics server that communicates with a physics client over shared memory",
PhysicsServerCreateFunc),
ExampleEntryPhysicsServer(1,"Physics Server (RTC)", "Create a physics server that communicates with a physics client over shared memory. At each update, the Physics Server will continue calling 'stepSimulation' based on the real-time clock (RTC).",
PhysicsServerCreateFunc,PHYSICS_SERVER_USE_RTC_CLOCK),
ExampleEntryPhysicsServer(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntryPhysicsServer(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",

50
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -143,6 +143,9 @@ struct OpenGLGuiHelperInternalData
struct CommonGraphicsApp* m_glApp;
class MyDebugDrawer* m_debugDraw;
GL_ShapeDrawer* m_gl2ShapeDrawer;
btAlignedObjectArray<unsigned char> m_rgbaPixelBuffer;
btAlignedObjectArray<float> m_depthBuffer;
};
@@ -238,8 +241,6 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
{
gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
}
}
}
@@ -325,6 +326,51 @@ void OpenGLGuiHelper::resetCamera(float camDist, float pitch, float yaw, float c
}
void OpenGLGuiHelper::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
{
int w = m_data->m_glApp->m_window->getWidth()*m_data->m_glApp->m_window->getRetinaScale();
int h = m_data->m_glApp->m_window->getHeight()*m_data->m_glApp->m_window->getRetinaScale();
if (widthPtr)
*widthPtr = w;
if (heightPtr)
*heightPtr = h;
if (numPixelsCopied)
*numPixelsCopied = 0;
int numTotalPixels = w*h;
int numRemainingPixels = numTotalPixels - startPixelIndex;
int numBytesPerPixel = 4;//RGBA
int numRequestedPixels = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
if (numRequestedPixels)
{
if (startPixelIndex==0)
{
//quick test: render the scene
getRenderInterface()->renderScene();
//copy the image into our local cache
m_data->m_rgbaPixelBuffer.resize(w*h*numBytesPerPixel);
m_data->m_depthBuffer.resize(w*h);
m_data->m_glApp->getScreenPixels(&(m_data->m_rgbaPixelBuffer[0]),m_data->m_rgbaPixelBuffer.size());
}
for (int i=0;i<numRequestedPixels*numBytesPerPixel;i++)
{
if (pixelsRGBA)
{
pixelsRGBA[i] = m_data->m_rgbaPixelBuffer[i+startPixelIndex*numBytesPerPixel];
}
}
if (numPixelsCopied)
*numPixelsCopied = numRequestedPixels;
}
}
struct MyConvertPointerSizeT

2
examples/ExampleBrowser/OpenGLGuiHelper.h
View File

@@ -45,6 +45,8 @@ struct OpenGLGuiHelper : public GUIHelperInterface
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied);
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld) ;
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size);

2
examples/ExampleBrowser/premake4.lua
View File

@@ -76,6 +76,8 @@ project "App_BulletExampleBrowser"
"../SharedMemory/PhysicsLoopBackC_API.h",
"../SharedMemory/PhysicsServerCommandProcessor.cpp",
"../SharedMemory/PhysicsServerCommandProcessor.h",
"../SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../SharedMemory/TinyRendererVisualShapeConverter.h",
"../MultiThreading/MultiThreadingExample.cpp",
"../MultiThreading/b3PosixThreadSupport.cpp",
"../MultiThreading/b3Win32ThreadSupport.cpp",

35
examples/ExtendedTutorials/RigidBodyFromObj.cpp
View File

@@ -42,7 +42,7 @@ struct RigidBodyFromObjExample : public CommonRigidBodyBase
virtual void renderScene();
void resetCamera()
{
float dist = 41;
float dist = 11;
float pitch = 52;
float yaw = 35;
float targetPos[3]={0,0.46,0};
@@ -88,7 +88,10 @@ void RigidBodyFromObjExample::initPhysics()
const GLInstanceVertex& v = glmesh->m_vertices->at(0);
btConvexHullShape* shape = new btConvexHullShape((const btScalar*)(&(v.xyzw[0])), glmesh->m_numvertices, sizeof(GLInstanceVertex));
shape->setLocalScaling(btVector3(0.1,0.1,0.1));
float scaling[4] = {0.1,0.1,0.1,1};
btVector3 localScaling(scaling[0],scaling[1],scaling[2]);
shape->setLocalScaling(localScaling);
if (m_options & OptimizeConvexObj)
{
@@ -114,25 +117,27 @@ void RigidBodyFromObjExample::initPhysics()
if (isDynamic)
shape->calculateLocalInertia(mass,localInertia);
btVector3 position(0,20,0);
float color[4] = {1,1,1,1};
float orn[4] = {0,0,0,1};
float pos[4] = {0,3,0,0};
btVector3 position(pos[0],pos[1],pos[2]);
startTransform.setOrigin(position);
btRigidBody* body = createRigidBody(mass,startTransform,shape);
btRigidBody* body = createRigidBody(mass,startTransform,shape);
btVector3 color(1,1,1);
btVector3 scaling(0.1,0.1,0.1);
bool useConvexHullForRendering = ((m_options & ObjUseConvexHullForRendering)!=0);
if (!useConvexHullForRendering)
{
int shapeId = m_guiHelper->getRenderInterface()->registerShape(&glmesh->m_vertices->at(0).xyzw[0],
glmesh->m_numvertices,
&glmesh->m_indices->at(0),
glmesh->m_numIndices,
B3_GL_TRIANGLES,-1);
shape->setUserIndex(shapeId);
int renderInstance = m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,startTransform.getRotation(),color,scaling);
body->setUserIndex(renderInstance);
int shapeId = m_guiHelper->registerGraphicsShape(&glmesh->m_vertices->at(0).xyzw[0],
glmesh->m_numvertices,
&glmesh->m_indices->at(0),
glmesh->m_numIndices);
shape->setUserIndex(shapeId);
int renderInstance = m_guiHelper->registerGraphicsInstance(shapeId,pos,orn,color,scaling);
body->setUserIndex(renderInstance);
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
@@ -155,5 +160,5 @@ CommonExampleInterface* ET_RigidBodyFromObjCreateFunc(CommonExampleOptions& o
return new RigidBodyFromObjExample(options.m_guiHelper,options.m_option);
}
B3_STANDALONE_EXAMPLE(ET_RigidBodyFromObjCreateFunc)

218
examples/ExtendedTutorials/premake4.lua Normal file
View File

@@ -0,0 +1,218 @@
project "App_RigidBodyFromObjExample"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","Bullet3Common","BulletDynamics","BulletCollision", "LinearMath"
}
language "C++"
files {
"RigidBodyFromObj.cpp",
"**.h",
"../StandaloneMain/main_console_single_example.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
project "App_RigidBodyFromObjExampleGui"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_opengl_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_RigidBodyFromObjExampleGuiWithSoftwareRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "OpenGL_Window","Bullet3Common"
}
initOpenGL()
initGlew()
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_sw_tinyrenderer_single_example.cpp",
"../ExampleBrowser/OpenGLGuiHelper.cpp",
"../ExampleBrowser/GL_ShapeDrawer.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}
if os.is("Linux") then initX11() end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_RigidBodyFromObjExampleTinyRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "Bullet3Common"
}
language "C++"
files {
"RigidBodyFromObj.cpp",
"*.h",
"../StandaloneMain/main_tinyrenderer_single_example.cpp",
"../OpenGLWindow/SimpleCamera.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

82
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
View File

@@ -12,32 +12,28 @@
#include "stb_image/stb_image.h"
int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer)
bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
{
int shapeId = -1;
char relativeFileName[1024];
meshData.m_gfxShape = 0;
meshData.m_textureImage = 0;
meshData.m_textureHeight = 0;
meshData.m_textureWidth = 0;
char relativeFileName[1024];
if (b3ResourcePath::findResourcePath(fileName.c_str(), relativeFileName, 1024))
{
char pathPrefix[1024];
b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
btVector3 shift(0,0,0);
// int index=10;
{
btVector3 shift(0,0,0);
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
int textureIndex = -1;
//try to load some texture
for (int i=0;i<shapes.size();i++)
@@ -48,7 +44,7 @@ int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName
int width,height,n;
const char* filename = shape.material.diffuse_texname.c_str();
const unsigned char* image=0;
unsigned char* image=0;
const char* prefix[]={ pathPrefix,"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numprefix = sizeof(prefix)/sizeof(const char*);
@@ -61,37 +57,59 @@ int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName
if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
{
image = stbi_load(relativeFileName, &width, &height, &n, 3);
meshData.m_textureImage = image;
if (image)
{
meshData.m_textureWidth = width;
meshData.m_textureHeight = height;
} else
{
meshData.m_textureWidth = 0;
meshData.m_textureHeight = 0;
}
} else
{
b3Warning("not found %s\n",relativeFileName);
}
}
if (image)
{
textureIndex = renderer->registerTexture(image,width,height);
if (textureIndex>=0)
{
break;
}
}
}
}
meshData.m_gfxShape = gfxShape;
return true;
shapeId = renderer->registerShape(&gfxShape->m_vertices->at(0).xyzw[0], gfxShape->m_numvertices, &gfxShape->m_indices->at(0), gfxShape->m_numIndices,B3_GL_TRIANGLES,textureIndex);
}
}
else
{
b3Warning("Cannot find %s\n", fileName.c_str());
}
return shapeId;
return false;
}
int b3ImportMeshUtility::loadAndRegisterMeshFromFile(const std::string& fileName, CommonRenderInterface* renderer)
{
int shapeId = -1;
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
{
int textureIndex = -1;
if (meshData.m_textureImage)
{
textureIndex = renderer->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
}
shapeId = renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
B3_GL_TRIANGLES,
textureIndex);
delete meshData.m_gfxShape;
delete meshData.m_textureImage;
}
return shapeId;
}

13
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
View File

@@ -1,13 +1,24 @@
#ifndef B3_IMPORT_MESH_UTILITY_H
#define B3_IMPORT_MESH_UTILIY_H
#define B3_IMPORT_MESH_UTILITY_H
#include <string>
struct b3ImportMeshData
{
struct GLInstanceGraphicsShape* m_gfxShape;
unsigned char* m_textureImage;//in 3 component 8-bit RGB data
int m_textureWidth;
int m_textureHeight;
};
class b3ImportMeshUtility
{
public:
static int loadAndRegisterMeshFromFile(const std::string& fileName, class CommonRenderInterface* renderer);
static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData);
};

3
examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
View File

@@ -203,7 +203,8 @@ void ImportSDFSetup::initPhysics()
m_dynamicsWorld->setGravity(gravity);
BulletURDFImporter u2b(m_guiHelper);
BulletURDFImporter u2b(m_guiHelper, 0);
bool loadOk = u2b.loadSDF(m_fileName);

743
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -39,6 +39,8 @@ struct BulletURDFInternalData
char m_pathPrefix[1024];
btHashMap<btHashInt,btVector4> m_linkColors;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
LinkVisualShapesConverter* m_customVisualShapesConverter;
};
@@ -57,13 +59,13 @@ enum MyFileType
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper)
BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter)
{
m_data = new BulletURDFInternalData;
m_data->m_guiHelper = helper;
m_data->m_pathPrefix[0]=0;
m_data->m_customVisualShapesConverter = customConverter;
}
@@ -98,7 +100,6 @@ struct BulletErrorLogger : public ErrorLogger
bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
{
m_data->m_linkColors.clear();
//int argc=0;
@@ -153,9 +154,6 @@ void BulletURDFImporter::activateModel(int modelIndex)
bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
{
m_data->m_linkColors.clear();
//int argc=0;
char relativeFileName[1024];
@@ -234,16 +232,6 @@ void BulletURDFImporter::getLinkChildIndices(int linkIndex, btAlignedObjectArray
}
}
bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{
btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
if (rgbaPtr)
{
colorRGBA = *rgbaPtr;
return true;
}
return false;
}
std::string BulletURDFImporter::getLinkName(int linkIndex) const
{
@@ -339,327 +327,6 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
return true;
}
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{
GLInstanceGraphicsShape* glmesh = 0;
btConvexShape* convexColShape = 0;
switch (visual->m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
btScalar cylLength = visual->m_geometry.m_cylinderLength;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
vert[2] = -cylLength / 2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = visual->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
convexColShape = boxShape;
convexColShape->setMargin(0.001);
break;
}
case URDF_GEOM_SPHERE:
{
btScalar radius = visual->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
convexColShape = sphereShape;
convexColShape->setMargin(0.001);
break;
break;
}
case URDF_GEOM_MESH:
{
if (visual->m_name.length())
{
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
{
const char* filename = visual->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n", filename);
char fullPath[1024];
int fileType = 0;
char tmpPathPrefix[1024];
std::string xml_string;
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char visualPathPrefix[1024];
sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".dae"))
{
fileType = FILE_COLLADA;
}
if (strstr(fullPath, ".stl"))
{
fileType = FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = FILE_OBJ;
}
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
FILE* f = fopen(fullPath, "rb");
if (f)
{
fclose(f);
switch (fileType)
{
case FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
break;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
}
}
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
}
else
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
}
}
else
{
b3Warning("mesh geometry not found %s\n", fullPath);
}
}
}
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh==0) && convexColShape)
{
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
{
// int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices = hull->numIndices();
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i < numVertices; i++)
{
GLInstanceVertex vtx;
btVector3 pos = hull->getVertexPointer()[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f;
pos.normalize();
vtx.normal[0] = pos.x();
vtx.normal[1] = pos.y();
vtx.normal[2] = pos.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
glmesh->m_vertices->push_back(vtx);
}
btAlignedObjectArray<int> indices;
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
}
glmesh->m_numvertices = glmesh->m_vertices->size();
glmesh->m_numIndices = glmesh->m_indices->size();
}
delete hull;
delete convexColShape;
convexColShape = 0;
}
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
{
int baseIndex = verticesOut.size();
for (int i = 0; i < glmesh->m_indices->size(); i++)
{
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
}
for (int i = 0; i < glmesh->m_vertices->size(); i++)
{
GLInstanceVertex& v = glmesh->m_vertices->at(i);
btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
btVector3 vt = visualTransform*vert;
v.xyzw[0] = vt[0];
v.xyzw[1] = vt[1];
v.xyzw[2] = vt[2];
btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
triNormal = visualTransform.getBasis()*triNormal;
v.normal[0] = triNormal[0];
v.normal[1] = triNormal[1];
v.normal[2] = triNormal[2];
verticesOut.push_back(v);
}
}
delete glmesh;
}
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
@@ -911,29 +578,333 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
}
int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{
GLInstanceGraphicsShape* glmesh = 0;
btConvexShape* convexColShape = 0;
switch (visual->m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
btScalar cylLength = visual->m_geometry.m_cylinderLength;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
vert[2] = -cylLength / 2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = visual->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
convexColShape = boxShape;
convexColShape->setMargin(0.001);
break;
}
case URDF_GEOM_SPHERE:
{
btScalar radius = visual->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
convexColShape = sphereShape;
convexColShape->setMargin(0.001);
break;
break;
}
case URDF_GEOM_MESH:
{
if (visual->m_name.length())
{
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
{
const char* filename = visual->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n", filename);
char fullPath[1024];
int fileType = 0;
char tmpPathPrefix[1024];
std::string xml_string;
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char visualPathPrefix[1024];
sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".dae"))
{
fileType = FILE_COLLADA;
}
if (strstr(fullPath, ".stl"))
{
fileType = FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = FILE_OBJ;
}
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
FILE* f = fopen(fullPath, "rb");
if (f)
{
fclose(f);
switch (fileType)
{
case FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
break;
}
case FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
}
}
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
}
else
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
}
}
else
{
b3Warning("mesh geometry not found %s\n", fullPath);
}
}
}
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh==0) && convexColShape)
{
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
{
// int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices = hull->numIndices();
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i < numVertices; i++)
{
GLInstanceVertex vtx;
btVector3 pos = hull->getVertexPointer()[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f;
pos.normalize();
vtx.normal[0] = pos.x();
vtx.normal[1] = pos.y();
vtx.normal[2] = pos.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
glmesh->m_vertices->push_back(vtx);
}
btAlignedObjectArray<int> indices;
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
}
glmesh->m_numvertices = glmesh->m_vertices->size();
glmesh->m_numIndices = glmesh->m_indices->size();
}
delete hull;
delete convexColShape;
convexColShape = 0;
}
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
{
int baseIndex = verticesOut.size();
for (int i = 0; i < glmesh->m_indices->size(); i++)
{
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
}
for (int i = 0; i < glmesh->m_vertices->size(); i++)
{
GLInstanceVertex& v = glmesh->m_vertices->at(i);
btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
btVector3 vt = visualTransform*vert;
v.xyzw[0] = vt[0];
v.xyzw[1] = vt[1];
v.xyzw[2] = vt[2];
btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
triNormal = visualTransform.getBasis()*triNormal;
v.normal[0] = triNormal[0];
v.normal[1] = triNormal[1];
v.normal[2] = triNormal[2];
verticesOut.push_back(v);
}
}
delete glmesh;
}
int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
{
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
#if USE_ROS_URDF_PARSER
for (int v = 0; v < (int)m_data->m_links[linkIndex]->visual_array.size(); v++)
{
const Visual* vis = m_data->m_links[linkIndex]->visual_array[v].get();
btVector3 childPos(vis->origin.position.x, vis->origin.position.y, vis->origin.position.z);
btQuaternion childOrn(vis->origin.rotation.x, vis->origin.rotation.y, vis->origin.rotation.z, vis->origin.rotation.w);
btTransform childTrans;
childTrans.setOrigin(childPos);
childTrans.setRotation(childOrn);
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
convertURDFToVisualShape(vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
}
#else
const UrdfModel& model = m_data->m_urdfParser.getModel();
const UrdfModel& model = m_data->m_urdfParser.getModel();
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
if (linkPtr)
{
@@ -943,7 +914,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
for (int v = 0; v < link->m_visualArray.size();v++)
{
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName];
if (matPtr)
@@ -952,18 +923,39 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
convertURDFToVisualShape(&vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
}
}
#endif
if (vertices.size() && indices.size())
{
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
}
if (vertices.size() && indices.size())
{
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
}
return graphicsIndex;
}
return graphicsIndex;
bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
{
const btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
if (rgbaPtr)
{
colorRGBA = *rgbaPtr;
return true;
}
return false;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj) const
{
if (m_data->m_customVisualShapesConverter)
{
const UrdfModel& model = m_data->m_urdfParser.getModel();
m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colObj);
}
}
@@ -985,25 +977,6 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
m_data->m_allocatedCollisionShapes.push_back(compoundShape);
compoundShape->setMargin(0.001);
#if USE_ROS_URDF_PARSER
for (int v=0;v<(int)m_data->m_links[linkIndex]->collision_array.size();v++)
{
const Collision* col = m_data->m_links[linkIndex]->collision_array[v].get();
btCollisionShape* childShape = convertURDFToCollisionShape(col ,pathPrefix);
if (childShape)
{
btVector3 childPos(col->origin.position.x, col->origin.position.y, col->origin.position.z);
btQuaternion childOrn(col->origin.rotation.x, col->origin.rotation.y, col->origin.rotation.z, col->origin.rotation.w);
btTransform childTrans;
childTrans.setOrigin(childPos);
childTrans.setRotation(childOrn);
compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
}
}
#else
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
btAssert(linkPtr);
if (linkPtr)
@@ -1026,7 +999,5 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
}
}
#endif
return compoundShape;
}

9
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@@ -3,6 +3,8 @@
#include "URDFImporterInterface.h"
#include "LinkVisualShapesConverter.h"
///BulletURDFImporter can deal with URDF and (soon) SDF files
class BulletURDFImporter : public URDFImporterInterface
@@ -13,7 +15,7 @@ class BulletURDFImporter : public URDFImporterInterface
public:
BulletURDFImporter(struct GUIHelperInterface* guiHelper);
BulletURDFImporter(struct GUIHelperInterface* guiHelper, LinkVisualShapesConverter* customConverter);
virtual ~BulletURDFImporter();
@@ -44,7 +46,9 @@ public:
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const;
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj) const;
///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
@@ -53,6 +57,7 @@ public:
virtual int getNumAllocatedCollisionShapes() const;
virtual class btCollisionShape* getAllocatedCollisionShape(int index);
};

12
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -11,6 +11,7 @@
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../../Utils/b3ResourcePath.h"
#include "BulletUrdfImporter.h"
@@ -199,18 +200,9 @@ void ImportUrdfSetup::initPhysics()
m_dynamicsWorld->setGravity(gravity);
BulletURDFImporter u2b(m_guiHelper, 0);
//now print the tree using the new interface
URDFImporterInterface* bla=0;
static bool newURDF = true;
if (newURDF)
{
b3Printf("using new URDF\n");
bla = new BulletURDFImporter(m_guiHelper);
}
URDFImporterInterface& u2b = *bla;
bool loadOk = u2b.loadURDF(m_fileName);
#ifdef TEST_MULTIBODY_SERIALIZATION

9
examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h Normal file
View File

@@ -0,0 +1,9 @@
#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
#define LINK_VISUAL_SHAPES_CONVERTER_H
struct LinkVisualShapesConverter
{
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionObject* colObj)=0;
};
#endif //LINK_VISUAL_SHAPES_CONVERTER_H

14
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -209,10 +209,15 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
}
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
if (compoundShape)
{
@@ -243,6 +248,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
creation.createRigidBodyGraphicsInstance(urdfLinkIndex, body, color, graphicsIndex);
cache.registerRigidBody(urdfLinkIndex, body, inertialFrameInWorldSpace, mass, localInertiaDiagonal, compoundShape, localInertialFrame);
//untested: u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,body);
} else
{
if (cache.m_bulletMultiBody==0)
@@ -383,6 +390,8 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
u2b.getLinkColor(urdfLinkIndex,color);
creation.createCollisionObjectGraphicsInstance(urdfLinkIndex,col,color);
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col);
btScalar friction = 0.5f;
col->setFriction(friction);
@@ -395,6 +404,9 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
cache.m_bulletMultiBody->setBaseCollider(col);
}
}
} else
{
//u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
}
}

6
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
View File

@@ -42,9 +42,11 @@ public:
virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
///quick hack: need to rethink the API/dependencies of this
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const = 0;
virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const { return -1;}
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
virtual void convertLinkVisualShapes2(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj) const { }
virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const = 0;
};
#endif //URDF_IMPORTER_INTERFACE_H

1
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@@ -186,6 +186,7 @@ public:
{
return m_sdfModels.size();
}
return 0;
}
void activateModel(int modelIndex);

17
examples/InverseDynamics/InverseDynamicsExample.cpp
View File

@@ -23,6 +23,7 @@ subject to the following restrictions:
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "btBulletDynamicsCommon.h"
@@ -85,10 +86,10 @@ public:
virtual void resetCamera()
{
float dist = 3.5;
float pitch = -136;
float yaw = 28;
float targetPos[3]={0.47,0,-0.64};
float dist = 1.5;
float pitch = -80;
float yaw = 10;
float targetPos[3]={0,0,0};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
@@ -150,10 +151,12 @@ void InverseDynamicsExample::initPhysics()
switch (m_option)
{
case 0:
case BT_ID_LOAD_URDF:
{
BulletURDFImporter u2b(m_guiHelper);
BulletURDFImporter u2b(m_guiHelper,0);
bool loadOk = u2b.loadURDF("kuka_lwr/kuka.urdf");
if (loadOk)
{
@@ -235,7 +238,7 @@ void InverseDynamicsExample::initPhysics()
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}

4
examples/InverseDynamics/InverseDynamicsExample.h
View File

@@ -18,8 +18,8 @@ subject to the following restrictions:
enum btInverseDynamicsExampleOptions
{
BT_ID_LOAD_URDF=1,
BT_ID_PROGRAMMATICALLY=2
BT_ID_LOAD_URDF=0,
BT_ID_PROGRAMMATICALLY=1
};
class CommonExampleInterface* InverseDynamicsExampleCreateFunc(struct CommonExampleOptions& options);

52
examples/InverseDynamics/premake4.lua
View File

@@ -162,3 +162,55 @@ if os.is("MacOSX") then
links{"Cocoa.framework"}
end
project "App_InverseDynamicsExampleTinyRenderer"
if _OPTIONS["ios"] then
kind "WindowedApp"
else
kind "ConsoleApp"
end
defines {"B3_USE_STANDALONE_EXAMPLE"}
includedirs {"../../src"}
links {
"BulletInverseDynamicsUtils", "BulletInverseDynamics","BulletDynamics","BulletCollision", "LinearMath", "Bullet3Common"
}
language "C++"
files {
"InverseDynamicsExample.cpp",
"*.h",
"../StandaloneMain/main_tinyrenderer_single_example.cpp",
"../OpenGLWindow/SimpleCamera.cpp",
"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.cpp",
"../Utils/b3ResourcePath.h",
"../RenderingExamples/TimeSeriesCanvas.cpp",
"../RenderingExamples/TimeSeriesFontData.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../ThirdPartyLibs/tinyxml/tinystr.cpp",
"../ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
"../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

2
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -19,7 +19,7 @@ subject to the following restrictions:
bool useShadowMap=true;//false;//true;
int shadowMapWidth=8192;
int shadowMapHeight=8192;
float shadowMapWorldSize=10;
float shadowMapWorldSize=50;
#define MAX_POINTS_IN_BATCH 1024
#define MAX_LINES_IN_BATCH 1024

42
examples/OpenGLWindow/SimpleCamera.cpp
View File

@@ -16,7 +16,8 @@ struct SimpleCameraInternalData
m_pitch(0),
m_aspect(1),
m_frustumZNear(0.01),
m_frustumZFar(1000)
m_frustumZFar(1000),
m_enableVR(false)
{
}
b3Vector3 m_cameraTargetPosition;
@@ -32,6 +33,11 @@ struct SimpleCameraInternalData
float m_aspect;
float m_frustumZNear;
float m_frustumZFar;
bool m_enableVR;
float m_viewMatrixVR[16];
float m_projectionMatrixVR[16];
};
@@ -46,7 +52,15 @@ SimpleCamera::~SimpleCamera()
delete m_data;
}
void SimpleCamera::setVRCamera(const float viewMat[16], const float projectionMatrix[16])
{
m_data->m_enableVR = true;
for (int i=0;i<16;i++)
{
m_data->m_viewMatrixVR[i] = viewMat[i];
m_data->m_projectionMatrixVR[i] = projectionMatrix[i];
}
}
static void b3CreateFrustum(
@@ -171,7 +185,7 @@ void SimpleCamera::update()
break;
default:
{
b3Assert(0);
//b3Assert(0);
return;
}
};
@@ -209,11 +223,29 @@ void SimpleCamera::update()
void SimpleCamera::getCameraProjectionMatrix(float projectionMatrix[16]) const
{
b3CreateFrustum(-m_data->m_aspect * m_data->m_frustumZNear, m_data->m_aspect * m_data->m_frustumZNear, -m_data->m_frustumZNear,m_data->m_frustumZNear, m_data->m_frustumZNear, m_data->m_frustumZFar,projectionMatrix);
if (m_data->m_enableVR)
{
for (int i=0;i<16;i++)
{
projectionMatrix[i] = m_data->m_projectionMatrixVR[i];
}
} else
{
b3CreateFrustum(-m_data->m_aspect * m_data->m_frustumZNear, m_data->m_aspect * m_data->m_frustumZNear, -m_data->m_frustumZNear,m_data->m_frustumZNear, m_data->m_frustumZNear, m_data->m_frustumZFar,projectionMatrix);
}
}
void SimpleCamera::getCameraViewMatrix(float viewMatrix[16]) const
{
b3CreateLookAt(m_data->m_cameraPosition,m_data->m_cameraTargetPosition,m_data->m_cameraUp,viewMatrix);
if (m_data->m_enableVR)
{
for (int i=0;i<16;i++)
{
viewMatrix[i] = m_data->m_viewMatrixVR[i];
}
} else
{
b3CreateLookAt(m_data->m_cameraPosition,m_data->m_cameraTargetPosition,m_data->m_cameraUp,viewMatrix);
}
}
void SimpleCamera::getCameraTargetPosition(double pos[3]) const

2
examples/OpenGLWindow/SimpleCamera.h
View File

@@ -14,6 +14,8 @@ struct SimpleCamera : public CommonCameraInterface
virtual void getCameraProjectionMatrix(float m[16]) const;
virtual void getCameraViewMatrix(float m[16]) const;
virtual void setVRCamera(const float viewMat[16], const float projectionMatrix[16]);
virtual void getCameraTargetPosition(float pos[3]) const;
virtual void getCameraPosition(float pos[3]) const;

1
examples/OpenGLWindow/SimpleOpenGL2App.h
View File

@@ -18,6 +18,7 @@ public:
virtual void swapBuffer();
virtual void drawText( const char* txt, int posX, int posY);
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA){};
virtual void setBackgroundColor(float red, float green, float blue);
virtual int registerCubeShape(float halfExtentsX,float halfExtentsY, float halfExtentsZ, int textureIndex = -1, float textureScaling = 1)
{

26
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -425,6 +425,18 @@ void SimpleOpenGL3App::drawText( const char* txt, int posXi, int posYi)
glDisable(GL_BLEND);
}
void SimpleOpenGL3App::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
{
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
m_primRenderer->drawTexturedRect(x0,y0,x1,y1,color,u0,v0,u1,v1,useRGBA);
glDisable(GL_BLEND);
}
struct GfxVertex
{
float x,y,z,w;
@@ -645,6 +657,20 @@ SimpleOpenGL3App::~SimpleOpenGL3App()
delete m_data ;
}
void SimpleOpenGL3App::getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes)
{
int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
int height = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenHeight();
if ((width*height*4) == bufferSizeInBytes)
{
glReadPixels(0,0,width, height, GL_RGBA, GL_UNSIGNED_BYTE, rgbaBuffer);
int glstat = glGetError();
b3Assert(glstat==GL_NO_ERROR);
}
}
//#define STB_IMAGE_WRITE_IMPLEMENTATION
#include "stb_image_write.h"
static void writeTextureToFile(int textureWidth, int textureHeight, const char* fileName, FILE* ffmpegVideo)

2
examples/OpenGLWindow/SimpleOpenGL3App.h
View File

@@ -24,6 +24,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
virtual void registerGrid(int xres, int yres, float color0[4], float color1[4]);
void dumpNextFrameToPng(const char* pngFilename);
void dumpFramesToVideo(const char* mp4Filename);
void getScreenPixels(unsigned char* rgbaBuffer, int bufferSizeInBytes);
void drawGrid(DrawGridData data=DrawGridData());
virtual void setUpAxis(int axis);
@@ -32,6 +33,7 @@ struct SimpleOpenGL3App : public CommonGraphicsApp
virtual void swapBuffer();
virtual void drawText( const char* txt, int posX, int posY);
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size);
virtual void drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA);
struct sth_stash* getFontStash();

9
examples/OpenGLWindow/Win32Window.cpp
View File

@@ -718,15 +718,6 @@ void Win32Window::runMainLoop()
void Win32Window::startRendering()
{
pumpMessage();
// glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT); //clear buffers
//glCullFace(GL_BACK);
//glFrontFace(GL_CCW);
// glEnable(GL_DEPTH_TEST);
}

417
examples/RenderingExamples/TinyRendererSetup.cpp
View File

@@ -6,25 +6,91 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
//#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
#include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
//#include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
//#include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "btBulletCollisionCommon.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
struct TinyRendererSetupInternalData
{
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
int m_width;
int m_height;
btAlignedObjectArray<btConvexShape*> m_shapePtr;
btAlignedObjectArray<btTransform> m_transforms;
btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
btVoronoiSimplexSolver m_simplexSolver;
btScalar m_pitch;
btScalar m_roll;
btScalar m_yaw;
int m_textureHandle;
int m_animateRenderer;
TinyRendererSetupInternalData(int width, int height)
:m_roll(0),
m_pitch(0),
m_yaw(0),
m_width(width),
m_height(height),
m_rgbColorBuffer(width,height,TGAImage::RGB),
m_textureHandle(0),
m_animateRenderer(0)
{
m_depthBuffer.resize(m_width*m_height);
}
void updateTransforms()
{
int numObjects = m_shapePtr.size();
m_transforms.resize(numObjects);
for (int i=0;i<numObjects;i++)
{
m_transforms[i].setIdentity();
//btVector3 pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
btVector3 pos(0.f,+i*2.5f, 0.f);
m_transforms[i].setIdentity();
m_transforms[i].setOrigin( pos );
btQuaternion orn;
if (i < 2)
{
orn.setEuler(m_yaw,m_pitch,m_roll);
m_transforms[i].setRotation(orn);
}
}
if (m_animateRenderer)
{
m_pitch += 0.005f;
m_yaw += 0.01f;
}
}
};
struct TinyRendererSetup : public CommonExampleInterface
{
struct GUIHelperInterface* m_guiHelper;
struct CommonGraphicsApp* m_app;
struct TinyRendererSetupInternalData* m_internalData;
bool m_useSoftware;
TinyRendererSetup(struct CommonGraphicsApp* app);
TinyRendererSetup(struct GUIHelperInterface* guiHelper);
virtual ~TinyRendererSetup();
@@ -48,131 +114,172 @@ struct TinyRendererSetup : public CommonExampleInterface
virtual void renderScene()
{
}
void animateRenderer(int animateRendererIndex)
{
m_internalData->m_animateRenderer = animateRendererIndex;
}
void selectRenderer(int rendererIndex)
{
m_useSoftware = (rendererIndex==0);
}
void resetCamera()
{
float dist = 11;
float pitch = 52;
float yaw = 35;
float targetPos[3]={0,0.46,0};
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
};
struct TinyRendererSetupInternalData
TinyRendererSetup::TinyRendererSetup(struct GUIHelperInterface* gui)
{
int m_canvasIndex;
struct Common2dCanvasInterface* m_canvas;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
m_useSoftware = false;
m_guiHelper = gui;
m_app = gui->getAppInterface();
m_internalData = new TinyRendererSetupInternalData(gui->getAppInterface()->m_window->getWidth(),gui->getAppInterface()->m_window->getHeight());
m_app->m_renderer->enableBlend(true);
const char* fileName = "teddy.obj";//cube.obj";//textured_sphere_smooth.obj";//cube.obj";
int m_width;
int m_height;
btAlignedObjectArray<btConvexShape*> m_shapePtr;
btAlignedObjectArray<btTransform> m_transforms;
btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
btVoronoiSimplexSolver m_simplexSolver;
btScalar m_pitch;
btScalar m_roll;
btScalar m_yaw;
TinyRendererSetupInternalData(int width, int height)
:m_canvasIndex(-1),
m_canvas(0),
m_roll(0),
m_pitch(0),
m_yaw(0),
m_width(width),
m_height(height),
m_rgbColorBuffer(width,height,TGAImage::RGB)
{
btConeShape* cone = new btConeShape(1,1);
btSphereShape* sphere = new btSphereShape(1);
btBoxShape* box = new btBoxShape (btVector3(1,1,1));
m_shapePtr.push_back(cone);
m_shapePtr.push_back(sphere);
m_shapePtr.push_back(box);
m_depthBuffer.resize(m_width*m_height);
for (int i=0;i<m_shapePtr.size();i++)
{
TinyRenderObjectData* ob = new TinyRenderObjectData(m_width,m_height,m_rgbColorBuffer,m_depthBuffer);
btAlignedObjectArray<btVector3> vertexPositions;
btAlignedObjectArray<btVector3> vertexNormals;
btAlignedObjectArray<int> indicesOut;
btTransform ident;
ident.setIdentity();
CollisionShape2TriangleMesh(m_shapePtr[i],ident,vertexPositions,vertexNormals,indicesOut);
int shapeId = -1;
m_renderObjects.push_back(ob);
ob->registerMesh2(vertexPositions,vertexNormals,indicesOut);
}
//ob->registerMeshShape(
updateTransforms();
}
void updateTransforms()
{
int numObjects = m_shapePtr.size();
m_transforms.resize(numObjects);
for (int i=0;i<numObjects;i++)
{
m_transforms[i].setIdentity();
btVector3 pos(0.f,-(2.5* numObjects * 0.5)+i*2.5f, 0.f);
m_transforms[i].setIdentity();
m_transforms[i].setOrigin( pos );
btQuaternion orn;
if (i < 2)
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
{
orn.setEuler(m_yaw,m_pitch,m_roll);
m_transforms[i].setRotation(orn);
int textureIndex = -1;
if (meshData.m_textureImage)
{
textureIndex = m_guiHelper->getRenderInterface()->registerTexture(meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
}
shapeId = m_guiHelper->getRenderInterface()->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
B3_GL_TRIANGLES,
textureIndex);
float position[4]={0,0,0,1};
float orn[4]={0,0,0,1};
float color[4]={1,1,1,1};
float scaling[4]={1,1,1,1};
m_guiHelper->getRenderInterface()->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_guiHelper->getRenderInterface()->writeTransforms();
m_internalData->m_shapePtr.push_back(0);
TinyRenderObjectData* ob = new TinyRenderObjectData(m_internalData->m_width,m_internalData->m_height,
m_internalData->m_rgbColorBuffer,
m_internalData->m_depthBuffer);
//ob->loadModel("cube.obj");
const int* indices = &meshData.m_gfxShape->m_indices->at(0);
ob->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
indices,
meshData.m_gfxShape->m_numIndices,color, meshData.m_textureImage,meshData.m_textureWidth,meshData.m_textureHeight);
m_internalData->m_renderObjects.push_back(ob);
delete meshData.m_gfxShape;
delete meshData.m_textureImage;
}
}
m_pitch += 0.005f;
m_yaw += 0.01f;
}
};
TinyRendererSetup::TinyRendererSetup(struct CommonGraphicsApp* app)
{
m_app = app;
m_internalData = new TinyRendererSetupInternalData(128,128);
}
TinyRendererSetup::~TinyRendererSetup()
{
m_app->m_renderer->enableBlend(false);
delete m_internalData;
}
const char* itemsanimate[] = {"Fixed", "Rotate"};
void TinyRendererComboCallbackAnimate(int combobox, const char* item, void* userPointer)
{
TinyRendererSetup* cl = (TinyRendererSetup*) userPointer;
b3Assert(cl);
int index=-1;
int numItems = sizeof(itemsanimate)/sizeof(char*);
for (int i=0;i<numItems;i++)
{
if (!strcmp(item,itemsanimate[i]))
{
index = i;
}
}
cl->animateRenderer(index);
}
const char* items[] = {"Software", "OpenGL"};
void TinyRendererComboCallback(int combobox, const char* item, void* userPointer)
{
TinyRendererSetup* cl = (TinyRendererSetup*) userPointer;
b3Assert(cl);
int index=-1;
int numItems = sizeof(items)/sizeof(char*);
for (int i=0;i<numItems;i++)
{
if (!strcmp(item,items[i]))
{
index = i;
}
}
cl->selectRenderer(index);
}
void TinyRendererSetup::initPhysics()
{
//request a visual bitma/texture we can render to
m_app->setUpAxis(2);
m_internalData->m_canvas = m_app->m_2dCanvasInterface;
CommonRenderInterface* render = m_app->m_renderer;
m_internalData->m_textureHandle = render->registerTexture(m_internalData->m_rgbColorBuffer.buffer(),m_internalData->m_width,m_internalData->m_height);
if (m_internalData->m_canvas)
{
m_internalData->m_canvasIndex = m_internalData->m_canvas->createCanvas("tinyrenderer",m_internalData->m_width,m_internalData->m_height);
for (int i=0;i<m_internalData->m_width;i++)
{
for (int j=0;j<m_internalData->m_height;j++)
{
unsigned char red=255;
unsigned char green=255;
unsigned char blue=255;
unsigned char alpha=255;
m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,i,j,red,green,blue,alpha);
}
}
m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
//int bitmapId = gfxBridge.createRenderBitmap(width,height);
}
{
ComboBoxParams comboParams;
comboParams.m_userPointer = this;
comboParams.m_numItems=sizeof(items)/sizeof(char*);
comboParams.m_startItem = 1;
comboParams.m_items=items;
comboParams.m_callback =TinyRendererComboCallback;
m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
}
{
ComboBoxParams comboParams;
comboParams.m_userPointer = this;
comboParams.m_numItems=sizeof(itemsanimate)/sizeof(char*);
comboParams.m_startItem = 0;
comboParams.m_items=itemsanimate;
comboParams.m_callback =TinyRendererComboCallbackAnimate;
m_guiHelper->getParameterInterface()->registerComboBox( comboParams);
}
}
@@ -180,72 +287,88 @@ void TinyRendererSetup::initPhysics()
void TinyRendererSetup::exitPhysics()
{
if (m_internalData->m_canvas && m_internalData->m_canvasIndex>=0)
{
m_internalData->m_canvas->destroyCanvas(m_internalData->m_canvasIndex);
}
}
void TinyRendererSetup::stepSimulation(float deltaTime)
{
m_internalData->updateTransforms();
m_internalData->updateTransforms();
if (!m_useSoftware)
{
TGAColor clearColor;
clearColor.bgra[0] = 255;
clearColor.bgra[1] = 255;
clearColor.bgra[2] = 255;
clearColor.bgra[3] = 255;
for(int y=0;y<m_internalData->m_height;++y)
{
for(int x=0;x<m_internalData->m_width;++x)
{
m_internalData->m_rgbColorBuffer.set(x,y,clearColor);
m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f;
}
}
for (int i=0;i<m_internalData->m_transforms.size();i++)
{
m_guiHelper->getRenderInterface()->writeSingleInstanceTransformToCPU(m_internalData->m_transforms[i].getOrigin(),m_internalData->m_transforms[i].getRotation(),i);
}
m_guiHelper->getRenderInterface()->writeTransforms();
m_guiHelper->getRenderInterface()->renderScene();
} else
{
TGAColor clearColor;
clearColor.bgra[0] = 200;
clearColor.bgra[1] = 200;
clearColor.bgra[2] = 200;
clearColor.bgra[3] = 255;
for(int y=0;y<m_internalData->m_height;++y)
{
for(int x=0;x<m_internalData->m_width;++x)
{
m_internalData->m_rgbColorBuffer.set(x,y,clearColor);
m_internalData->m_depthBuffer[x+y*m_internalData->m_width] = -1e30f;
}
}
ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
CommonRenderInterface* render = this->m_app->m_renderer;
render->getActiveCamera()->getCameraViewMatrix(viewMat);
ATTRIBUTE_ALIGNED16(btScalar modelMat2[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
CommonRenderInterface* render = this->m_app->m_renderer;
render->getActiveCamera()->getCameraViewMatrix(viewMat);
render->getActiveCamera()->getCameraProjectionMatrix(projMat);
for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
{
for (int o=0;o<this->m_internalData->m_renderObjects.size();o++)
{
const btTransform& tr = m_internalData->m_transforms[o];
tr.getOpenGLMatrix(modelMat2);
const btTransform& tr = m_internalData->m_transforms[o];
tr.getOpenGLMatrix(modelMat2);
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
}
}
TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
}
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
m_internalData->m_renderObjects[o]->m_modelMatrix[i][j] = float(modelMat2[i+4*j]);
m_internalData->m_renderObjects[o]->m_viewMatrix[i][j] = viewMat[i+4*j];
m_internalData->m_renderObjects[o]->m_projectionMatrix[i][j] = projMat[i+4*j];
for(int y=0;y<m_internalData->m_height;++y)
{
for(int x=0;x<m_internalData->m_width;++x)
{
btVector3 lightDirWorld;
switch (m_app->getUpAxis())
{
case 1:
lightDirWorld = btVector3(-50.f,100,30);
break;
case 2:
lightDirWorld = btVector3(-50.f,30,100);
break;
default:{}
};
const TGAColor& color = m_internalData->m_rgbColorBuffer.get(x,y);
m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,(m_internalData->m_height-1-y),
color.bgra[2],color.bgra[1],color.bgra[0],255);
}
}
m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
//m_internalData->m_canvas->setPixel(m_internalData->m_canvasIndex,x,y,255,0,0,255);
m_internalData->m_canvas->refreshImageData(m_internalData->m_canvasIndex);
}
}
TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);
}
//m_app->drawText("hello",500,500);
render->activateTexture(m_internalData->m_textureHandle);
render->updateTexture(m_internalData->m_textureHandle,m_internalData->m_rgbColorBuffer.buffer());
float color[4] = {1,1,1,1};
m_app->drawTexturedRect(0,0,m_app->m_window->getWidth(), m_app->m_window->getHeight(),color,0,0,1,1,true);
}
}
@@ -275,5 +398,5 @@ void TinyRendererSetup::syncPhysicsToGraphics(GraphicsPhysicsBridge& gfxBridge)
CommonExampleInterface* TinyRendererCreateFunc(struct CommonExampleOptions& options)
{
return new TinyRendererSetup(options.m_guiHelper->getAppInterface());
return new TinyRendererSetup(options.m_guiHelper);
}

3
examples/SharedMemory/PhysicsClient.h
View File

@@ -37,6 +37,9 @@ public:
virtual const float* getDebugLinesFrom() const = 0;
virtual const float* getDebugLinesTo() const = 0;
virtual const float* getDebugLinesColor() const = 0;
virtual void getCachedCameraImage(struct b3CameraImageData* cameraData)=0;
};
#endif // BT_PHYSICS_CLIENT_API_H

38
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -676,3 +676,41 @@ void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* l
}
}
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type =CMD_REQUEST_CAMERA_IMAGE_DATA;
command->m_requestPixelDataArguments.m_startPixelIndex = 0;
command->m_updateFlags = 0;//REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL;
return (b3SharedMemoryCommandHandle) command;
}
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle commandHandle, float viewMatrix[16], float projectionMatrix[16])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_CAMERA_IMAGE_DATA);
for (int i=0;i<16;i++)
{
command->m_requestPixelDataArguments.m_projectionMatrix[i] = projectionMatrix[i];
command->m_requestPixelDataArguments.m_viewMatrix[i] = viewMatrix[i];
}
command->m_updateFlags |= REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES;
}
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
if (cl)
{
cl->getCachedCameraImage(imageData);
}
}

5
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -65,6 +65,11 @@ b3SharedMemoryCommandHandle b3InitRequestDebugLinesCommand(b3PhysicsClientHandle
///status CMD_DEBUG_LINES_COMPLETED
void b3GetDebugLines(b3PhysicsClientHandle physClient, struct b3DebugLines* lines);
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle b3InitRequestCameraImage(b3PhysicsClientHandle physClient);
void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImageData* imageData);
b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
int b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

184
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -2,7 +2,7 @@
#include "PhysicsClientExample.h"
#include "../CommonInterfaces/CommonMultiBodyBase.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "SharedMemoryCommon.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "PhysicsClientC_API.h"
@@ -11,7 +11,7 @@
#include "PhysicsLoopBackC_API.h"
#include "PhysicsDirectC_API.h"
#include "PhysicsClientC_API.h"
#include "PhysicsServerSharedMemory.h"
struct MyMotorInfo2
{
btScalar m_velTarget;
@@ -21,6 +21,9 @@ struct MyMotorInfo2
int m_qIndex;
};
int camVisualizerWidth = 640;//1024/3;
int camVisualizerHeight = 480;//768/3;
#define MAX_NUM_MOTORS 128
@@ -29,24 +32,33 @@ class PhysicsClientExample : public SharedMemoryCommon
protected:
b3PhysicsClientHandle m_physicsClientHandle;
//this m_physicsServer is only used when option eCLIENTEXAMPLE_SERVER is enabled
PhysicsServerSharedMemory m_physicsServer;
bool m_wantsTermination;
btAlignedObjectArray<int> m_userCommandRequests;
int m_sharedMemoryKey;
int m_selectedBody;
int m_prevSelectedBody;
struct Common2dCanvasInterface* m_canvas;
int m_canvasIndex;
void createButton(const char* name, int id, bool isTrigger );
void createButtons();
public:
//@todo, add accessor methods
// MyMotorInfo2 m_motorTargetVelocities[MAX_NUM_MOTORS];
MyMotorInfo2 m_motorTargetPositions[MAX_NUM_MOTORS];
int m_numMotors;
int m_options;
bool m_isOptionalServerConnected;
public:
PhysicsClientExample(GUIHelperInterface* helper);
PhysicsClientExample(GUIHelperInterface* helper, int options);
virtual ~PhysicsClientExample();
virtual void initPhysics();
@@ -93,6 +105,11 @@ public:
virtual void exitPhysics(){};
virtual void renderScene()
{
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_physicsServer.renderScene();
}
b3DebugLines debugLines;
b3GetDebugLines(m_physicsClientHandle,&debugLines);
int numLines = debugLines.m_numDebugLines;
@@ -153,7 +170,13 @@ public:
b3JointControlSetMaximumForce(commandHandle,uIndex,1000);
}
}
virtual void physicsDebugDraw(int debugFlags){}
virtual void physicsDebugDraw(int debugFlags)
{
if (m_options==eCLIENTEXAMPLE_SERVER)
{
m_physicsServer.physicsDebugDraw(debugFlags);
}
}
virtual bool mouseMoveCallback(float x,float y){return false;};
virtual bool mouseButtonCallback(int button, int state, float x, float y){return false;}
virtual bool keyboardCallback(int key, int state){return false;}
@@ -218,6 +241,20 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
break;
}
case CMD_REQUEST_CAMERA_IMAGE_DATA:
{
///request an image from a simulated camera, using a software renderer.
b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
float viewMatrix[16];
float projectionMatrix[16];
this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraProjectionMatrix(projectionMatrix);
this->m_guiHelper->getRenderInterface()->getActiveCamera()->getCameraViewMatrix(viewMatrix);
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CREATE_BOX_COLLISION_SHAPE:
{
b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
@@ -352,7 +389,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: {
b3SharedMemoryCommandHandle commandHandle = b3InitPhysicsParamCommand(m_physicsClientHandle);
b3PhysicsParamSetGravity(commandHandle, 0.0, 0.0, -9.8);
b3SubmitClientCommandAndWaitStatus(m_physicsClientHandle, commandHandle);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
default:
@@ -365,14 +402,17 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper)
PhysicsClientExample::PhysicsClientExample(GUIHelperInterface* helper, int options)
:SharedMemoryCommon(helper),
m_physicsClientHandle(0),
m_wantsTermination(false),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_selectedBody(-1),
m_prevSelectedBody(-1),
m_numMotors(0)
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false),
m_canvas(0)
{
b3Printf("Started PhysicsClientExample\n");
}
@@ -384,6 +424,12 @@ PhysicsClientExample::~PhysicsClientExample()
b3ProcessServerStatus(m_physicsClientHandle);
b3DisconnectSharedMemory(m_physicsClientHandle);
}
if (m_options == eCLIENTEXAMPLE_SERVER)
{
bool deInitializeSharedMemory = true;
m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
}
b3Printf("~PhysicsClientExample\n");
}
@@ -404,9 +450,13 @@ void PhysicsClientExample::createButtons()
m_guiHelper->getParameterInterface()->removeAllParameters();
createButton("Load URDF",CMD_LOAD_URDF, isTrigger);
createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
if (m_options!=eCLIENTEXAMPLE_SERVER)
{
createButton("Get State",CMD_REQUEST_ACTUAL_STATE, isTrigger);
}
createButton("Send Desired State",CMD_SEND_DESIRED_STATE, isTrigger);
createButton("Create Box Collider",CMD_CREATE_BOX_COLLISION_SHAPE,isTrigger);
createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
@@ -477,6 +527,39 @@ void PhysicsClientExample::initPhysics()
m_selectedBody = -1;
m_prevSelectedBody = -1;
if (m_options == eCLIENTEXAMPLE_SERVER)
{
m_canvas = m_guiHelper->get2dCanvasInterface();
if (m_canvas)
{
m_canvasIndex = m_canvas->createCanvas("Synthetic Camera",camVisualizerWidth, camVisualizerHeight);
for (int i=0;i<camVisualizerWidth;i++)
{
for (int j=0;j<camVisualizerHeight;j++)
{
unsigned char red=255;
unsigned char green=255;
unsigned char blue=255;
unsigned char alpha=255;
if (i==j)
{
red = 0;
green=0;
blue=0;
}
m_canvas->setPixel(m_canvasIndex,i,j,red,green,blue,alpha);
}
}
m_canvas->refreshImageData(m_canvasIndex);
}
m_isOptionalServerConnected = m_physicsServer.connectSharedMemory( m_guiHelper);
}
m_physicsClientHandle = b3ConnectSharedMemory(m_sharedMemoryKey);
//m_physicsClientHandle = b3ConnectPhysicsLoopback(SHARED_MEMORY_KEY);
//m_physicsClientHandle = b3ConnectPhysicsDirect();
@@ -491,6 +574,15 @@ void PhysicsClientExample::initPhysics()
void PhysicsClientExample::stepSimulation(float deltaTime)
{
if (m_options == eCLIENTEXAMPLE_SERVER)
{
for (int i=0;i<100;i++)
{
m_physicsServer.processClientCommands();
}
}
if (m_prevSelectedBody != m_selectedBody)
{
createButtons();
@@ -509,6 +601,46 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
//b3Printf("bla\n");
}
if (statusType ==CMD_CAMERA_IMAGE_COMPLETED)
{
static int counter=0;
char msg[1024];
sprintf(msg,"Camera image %d OK\n",counter++);
b3CameraImageData imageData;
b3GetCameraImageData(m_physicsClientHandle,&imageData);
if (m_canvas && m_canvasIndex >=0)
{
for (int i=0;i<imageData.m_pixelWidth;i++)
{
for (int j=0;j<imageData.m_pixelHeight;j++)
{
int xIndex = int(float(i)*(float(camVisualizerWidth)/float(imageData.m_pixelWidth)));
int yIndex = int(float(j)*(float(camVisualizerHeight)/float(imageData.m_pixelHeight)));
btClamp(yIndex,0,imageData.m_pixelHeight);
btClamp(xIndex,0,imageData.m_pixelWidth);
int bytesPerPixel = 4;
int pixelIndex = (i+j*imageData.m_pixelWidth)*bytesPerPixel;
m_canvas->setPixel(m_canvasIndex,xIndex,camVisualizerHeight-1-yIndex,
imageData.m_rgbColorData[pixelIndex],
imageData.m_rgbColorData[pixelIndex+1],
imageData.m_rgbColorData[pixelIndex+2],
255);
// imageData.m_rgbColorData[pixelIndex+3]);
}
}
m_canvas->refreshImageData(m_canvasIndex);
}
b3Printf(msg);
}
if (statusType == CMD_CAMERA_IMAGE_FAILED)
{
b3Printf("Camera image FAILED\n");
}
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
int bodyIndex = b3GetStatusBodyIndex(status);
@@ -564,10 +696,29 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
m_selectedBody = -1;
m_numMotors=0;
createButtons();
}
prepareAndSubmitCommand(commandId);
b3SharedMemoryCommandHandle commandHandle = b3InitResetSimulationCommand(m_physicsClientHandle);
if (m_options == eCLIENTEXAMPLE_SERVER)
{
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
while (!b3CanSubmitCommand(m_physicsClientHandle))
{
m_physicsServer.processClientCommands();
b3SharedMemoryStatusHandle status = b3ProcessServerStatus(m_physicsClientHandle);
bool hasStatus = (status != 0);
if (hasStatus)
{
int statusType = b3GetStatusType(status);
b3Printf("Status after reset: %d",statusType);
}
}
} else
{
prepareAndSubmitCommand(commandId);
}
} else
{
prepareAndSubmitCommand(commandId);
}
} else
{
@@ -575,7 +726,10 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
enqueueCommand(CMD_SEND_DESIRED_STATE);
enqueueCommand(CMD_STEP_FORWARD_SIMULATION);
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
if (m_options != eCLIENTEXAMPLE_SERVER)
{
enqueueCommand(CMD_REQUEST_DEBUG_LINES);
}
//enqueueCommand(CMD_REQUEST_ACTUAL_STATE);
}
}
@@ -589,7 +743,7 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options)
{
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper);
PhysicsClientExample* example = new PhysicsClientExample(options.m_guiHelper, options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);

7
examples/SharedMemory/PhysicsClientExample.h
View File

@@ -1,6 +1,13 @@
#ifndef PHYSICS_CLIENT_EXAMPLE_H
#define PHYSICS_CLIENT_EXAMPLE_H
enum ClientExampleOptions
{
eCLIENTEXAMPLE_LOOPBACK=1,
eCLIENTEAXMPLE_DIRECT=2,
eCLIENTEXAMPLE_SERVER=3,
};
class CommonExampleInterface* PhysicsClientCreateFunc(struct CommonExampleOptions& options);
#endif//PHYSICS_CLIENT_EXAMPLE_H

84
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@@ -32,6 +32,11 @@ struct PhysicsClientSharedMemoryInternalData {
btAlignedObjectArray<TmpFloat3> m_debugLinesTo;
btAlignedObjectArray<TmpFloat3> m_debugLinesColor;
int m_cachedCameraPixelsWidth;
int m_cachedCameraPixelsHeight;
btAlignedObjectArray<unsigned char> m_cachedCameraPixelsRGBA;
btAlignedObjectArray<float> m_cachedCameraDepthBuffer;
SharedMemoryStatus m_lastServerStatus;
int m_counter;
@@ -46,8 +51,10 @@ struct PhysicsClientSharedMemoryInternalData {
: m_sharedMemory(0),
m_ownsSharedMemory(false),
m_testBlock1(0),
m_counter(0),
m_serverLoadUrdfOK(false),
m_counter(0),
m_cachedCameraPixelsWidth(0),
m_cachedCameraPixelsHeight(0),
m_serverLoadUrdfOK(false),
m_isConnected(false),
m_waitingForServer(false),
m_hasLastServerStatus(false),
@@ -417,6 +424,47 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
break;
}
case CMD_CAMERA_IMAGE_COMPLETED:
{
if (m_data->m_verboseOutput)
{
b3Printf("Camera image OK\n");
}
int numBytesPerPixel = 4;//RGBA
int numTotalPixels = serverCmd.m_sendPixelDataArguments.m_startingPixelIndex+
serverCmd.m_sendPixelDataArguments.m_numPixelsCopied+
serverCmd.m_sendPixelDataArguments.m_numRemainingPixels;
m_data->m_cachedCameraPixelsWidth = 0;
m_data->m_cachedCameraPixelsHeight = 0;
int numPixels = serverCmd.m_sendPixelDataArguments.m_imageWidth*serverCmd.m_sendPixelDataArguments.m_imageHeight;
m_data->m_cachedCameraPixelsRGBA.reserve(numPixels*numBytesPerPixel);
m_data->m_cachedCameraDepthBuffer.resize(numTotalPixels);
m_data->m_cachedCameraPixelsRGBA.resize(numTotalPixels*numBytesPerPixel);
unsigned char* rgbaPixelsReceived =
(unsigned char*)&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0];
printf("pixel = %d\n", rgbaPixelsReceived[0]);
for (int i=0;i<serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*numBytesPerPixel;i++)
{
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex*numBytesPerPixel]
= rgbaPixelsReceived[i];
}
break;
}
case CMD_CAMERA_IMAGE_FAILED:
{
b3Printf("Camera image FAILED\n");
break;
}
default: {
b3Error("Unknown server status\n");
btAssert(0);
@@ -433,6 +481,30 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
m_data->m_waitingForServer = false;
} else {
m_data->m_waitingForServer = true;
}
if (serverCmd.m_type == CMD_CAMERA_IMAGE_COMPLETED)
{
SharedMemoryCommand& command = m_data->m_testBlock1->m_clientCommands[0];
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0)
{
// continue requesting remaining pixels
command.m_type = CMD_REQUEST_CAMERA_IMAGE_DATA;
command.m_requestPixelDataArguments.m_startPixelIndex =
serverCmd.m_sendPixelDataArguments.m_startingPixelIndex +
serverCmd.m_sendPixelDataArguments.m_numPixelsCopied;
submitClientCommand(command);
return 0;
} else
{
m_data->m_cachedCameraPixelsWidth = serverCmd.m_sendPixelDataArguments.m_imageWidth;
m_data->m_cachedCameraPixelsHeight = serverCmd.m_sendPixelDataArguments.m_imageHeight;
}
}
if ((serverCmd.m_type == CMD_DEBUG_LINES_COMPLETED) &&
@@ -496,6 +568,14 @@ void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data,
}
}
void PhysicsClientSharedMemory::getCachedCameraImage(struct b3CameraImageData* cameraData)
{
cameraData->m_pixelWidth = m_data->m_cachedCameraPixelsWidth;
cameraData->m_pixelHeight = m_data->m_cachedCameraPixelsHeight;
cameraData->m_depthValues = m_data->m_cachedCameraDepthBuffer.size() ? &m_data->m_cachedCameraDepthBuffer[0] : 0;
cameraData->m_rgbColorData = m_data->m_cachedCameraPixelsRGBA.size() ? &m_data->m_cachedCameraPixelsRGBA[0] : 0;
}
const float* PhysicsClientSharedMemory::getDebugLinesFrom() const {
if (m_data->m_debugLinesFrom.size()) {
return &m_data->m_debugLinesFrom[0].m_x;

1
examples/SharedMemory/PhysicsClientSharedMemory.h
View File

@@ -45,6 +45,7 @@ public:
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
virtual void getCachedCameraImage(struct b3CameraImageData* cameraData);
};
#endif // BT_PHYSICS_CLIENT_API_H

11
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -328,3 +328,14 @@ const float* PhysicsDirect::getDebugLinesColor() const
}
return 0;
}
void PhysicsDirect::getCachedCameraImage(b3CameraImageData* cameraData)
{
if (cameraData)
{
cameraData->m_pixelHeight = 0;
cameraData->m_pixelWidth = 0;
cameraData->m_depthValues = 0;
cameraData->m_rgbColorData = 0;
}
}

2
examples/SharedMemory/PhysicsDirect.h
View File

@@ -57,6 +57,8 @@ public:
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
virtual void getCachedCameraImage(b3CameraImageData* cameraData);
};
#endif //PHYSICS_DIRECT_H

5
examples/SharedMemory/PhysicsLoopBack.cpp
View File

@@ -113,3 +113,8 @@ const float* PhysicsLoopBack::getDebugLinesColor() const
{
return m_data->m_physicsClient->getDebugLinesColor();
}
void PhysicsLoopBack::getCachedCameraImage(struct b3CameraImageData* cameraData)
{
return m_data->m_physicsClient->getCachedCameraImage(cameraData);
}

1
examples/SharedMemory/PhysicsLoopBack.h
View File

@@ -52,6 +52,7 @@ public:
virtual const float* getDebugLinesFrom() const;
virtual const float* getDebugLinesTo() const;
virtual const float* getDebugLinesColor() const;
virtual void getCachedCameraImage(struct b3CameraImageData* cameraData);
};

84
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -4,6 +4,7 @@
#include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
#include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
#include "../Importers/ImportURDFDemo/URDF2Bullet.h"
#include "TinyRendererVisualShapeConverter.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
@@ -287,7 +288,6 @@ struct PhysicsServerCommandProcessorInternalData
///handle management
btAlignedObjectArray<InternalBodyHandle> m_bodyHandles;
int m_numUsedHandles; // number of active handles
int m_firstFreeHandle; // free handles list
InternalBodyHandle* getHandle(int handle)
{
@@ -410,6 +410,7 @@ struct PhysicsServerCommandProcessorInternalData
btVector3 m_hitPos;
btScalar m_oldPickingDist;
bool m_prevCanSleep;
TinyRendererVisualShapeConverter m_visualConverter;
PhysicsServerCommandProcessorInternalData()
:
@@ -691,7 +692,9 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
return false;
}
BulletURDFImporter u2b(m_data->m_guiHelper);
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -962,6 +965,79 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_REQUEST_CAMERA_IMAGE_DATA:
{
int startPixelIndex = clientCmd.m_requestPixelDataArguments.m_startPixelIndex;
int width, height;
int numPixelsCopied = 0;
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
{
m_data->m_guiHelper->copyCameraImageData(0,0,0,0,0,&width,&height,0);
}
else
{
m_data->m_visualConverter.getWidthAndHeight(width,height);
}
int numTotalPixels = width*height;
int numRemainingPixels = numTotalPixels - startPixelIndex;
if (numRemainingPixels>0)
{
int maxNumPixels = bufferSizeInBytes/8-1;
unsigned char* pixelRGBA = (unsigned char*)bufferServerToClient;
int numRequestedPixels = btMin(maxNumPixels,numRemainingPixels);
float* depthBuffer = (float*)(bufferServerToClient+numRequestedPixels*4);
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL)!=0)
{
m_data->m_guiHelper->copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
} else
{
if (clientCmd.m_requestPixelDataArguments.m_startPixelIndex==0)
{
printf("-------------------------------\nRendering\n");
if ((clientCmd.m_updateFlags & REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES)!=0)
{
m_data->m_visualConverter.render(
clientCmd.m_requestPixelDataArguments.m_viewMatrix,
clientCmd.m_requestPixelDataArguments.m_projectionMatrix);
} else
{
m_data->m_visualConverter.render();
}
}
m_data->m_visualConverter.copyCameraImageData(pixelRGBA,numRequestedPixels,depthBuffer,numRequestedPixels,startPixelIndex,&width,&height,&numPixelsCopied);
}
//each pixel takes 4 RGBA values and 1 float = 8 bytes
} else
{
}
serverStatusOut.m_type = CMD_CAMERA_IMAGE_COMPLETED;
serverStatusOut.m_sendPixelDataArguments.m_numPixelsCopied = numPixelsCopied;
serverStatusOut.m_sendPixelDataArguments.m_numRemainingPixels = numRemainingPixels - numPixelsCopied;
serverStatusOut.m_sendPixelDataArguments.m_startingPixelIndex = startPixelIndex;
serverStatusOut.m_sendPixelDataArguments.m_imageWidth = width;
serverStatusOut.m_sendPixelDataArguments.m_imageHeight= height;
hasStatus = true;
break;
}
case CMD_LOAD_URDF:
{
@@ -1545,6 +1621,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
}
if (m_data)
{
m_data->m_visualConverter.resetAll();
}
deleteDynamicsWorld();
createEmptyDynamicsWorld();
m_data->exitHandles();

20
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -19,10 +19,11 @@ class PhysicsServerExample : public SharedMemoryCommon
bool m_isConnected;
btClock m_clock;
bool m_replay;
int m_options;
public:
PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0);
PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem=0, int options=0);
virtual ~PhysicsServerExample();
@@ -133,12 +134,13 @@ public:
};
PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem)
PhysicsServerExample::PhysicsServerExample(GUIHelperInterface* helper, SharedMemoryInterface* sharedMem, int options)
:SharedMemoryCommon(helper),
m_physicsServer(sharedMem),
m_wantsShutdown(false),
m_isConnected(false),
m_replay(false)
m_replay(false),
m_options(options)
{
b3Printf("Started PhysicsServer\n");
}
@@ -188,11 +190,7 @@ bool PhysicsServerExample::wantsTermination()
void PhysicsServerExample::stepSimulation(float deltaTime)
{
if (m_replay)
{
for (int i=0;i<100;i++)
m_physicsServer.processClientCommands();
} else
if (m_options == PHYSICS_SERVER_USE_RTC_CLOCK)
{
btClock rtc;
btScalar endTime = rtc.getTimeMilliseconds() + deltaTime*btScalar(800);
@@ -201,6 +199,10 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
{
m_physicsServer.processClientCommands();
}
} else
{
for (int i=0;i<10;i++)
m_physicsServer.processClientCommands();
}
}
@@ -288,7 +290,7 @@ extern int gSharedMemoryKey;
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options)
{
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem);
PhysicsServerExample* example = new PhysicsServerExample(options.m_guiHelper, options.m_sharedMem, options.m_option);
if (gSharedMemoryKey>=0)
{
example->setSharedMemoryKey(gSharedMemoryKey);

1
examples/SharedMemory/PhysicsServerExample.h
View File

@@ -5,6 +5,7 @@ enum PhysicsServerOptions
{
PHYSICS_SERVER_ENABLE_COMMAND_LOGGING=1,
PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG=2,
PHYSICS_SERVER_USE_RTC_CLOCK = 4,
};
class CommonExampleInterface* PhysicsServerCreateFunc(struct CommonExampleOptions& options);

27
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -113,6 +113,21 @@ struct RequestDebugLinesArgs
int m_startingLineIndex;
};
struct RequestPixelDataArgs
{
float m_viewMatrix[16];
float m_projectionMatrix[16];
int m_startPixelIndex;
};
enum EnumRequestPixelDataUpdateFlags
{
REQUEST_PIXEL_ARGS_HAS_CAMERA_MATRICES=1,
REQUEST_PIXEL_ARGS_USE_HARDWARE_OPENGL=2,
};
struct SendDebugLinesArgs
{
int m_startingLineIndex;
@@ -120,6 +135,16 @@ struct SendDebugLinesArgs
int m_numRemainingDebugLines;
};
struct SendPixelDataArgs
{
int m_imageWidth;
int m_imageHeight;
int m_startingPixelIndex;
int m_numPixelsCopied;
int m_numRemainingPixels;
};
struct PickBodyArgs
{
double m_rayFromWorld[3];
@@ -270,6 +295,7 @@ struct SharedMemoryCommand
struct CreateSensorArgs m_createSensorArguments;
struct CreateBoxShapeArgs m_createBoxShapeArguments;
struct RequestDebugLinesArgs m_requestDebugLinesArguments;
struct RequestPixelDataArgs m_requestPixelDataArguments;
struct PickBodyArgs m_pickBodyArguments;
};
};
@@ -291,6 +317,7 @@ struct SharedMemoryStatus
struct BulletDataStreamArgs m_dataStreamArguments;
struct SendActualStateArgs m_sendActualStateArgs;
struct SendDebugLinesArgs m_sendDebugLinesArgs;
struct SendPixelDataArgs m_sendPixelDataArguments;
struct RigidBodyCreateArgs m_rigidBodyCreateArgs;
};
};

14
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -23,6 +23,7 @@ enum EnumSharedMemoryClientCommand
CMD_PICK_BODY,
CMD_MOVE_PICKED_BODY,
CMD_REMOVE_PICKING_CONSTRAINT_BODY,
CMD_REQUEST_CAMERA_IMAGE_DATA,
CMD_MAX_CLIENT_COMMANDS
};
@@ -48,7 +49,9 @@ enum EnumSharedMemoryServerStatus
CMD_DEBUG_LINES_OVERFLOW_FAILED,
CMD_DESIRED_STATE_RECEIVED_COMPLETED,
CMD_STEP_FORWARD_SIMULATION_COMPLETED,
CMD_RESET_SIMULATION_COMPLETED,
CMD_RESET_SIMULATION_COMPLETED,
CMD_CAMERA_IMAGE_COMPLETED,
CMD_CAMERA_IMAGE_FAILED,
CMD_INVALID_STATUS,
CMD_MAX_SERVER_COMMANDS
};
@@ -105,6 +108,14 @@ struct b3DebugLines
const float* m_linesColor;//float red,green,blue times 'm_numDebugLines'.
};
struct b3CameraImageData
{
int m_pixelWidth;
int m_pixelHeight;
const unsigned char* m_rgbColorData;//3*m_pixelWidth*m_pixelHeight bytes
const float* m_depthValues;//m_pixelWidth*m_pixelHeight floats
};
///b3LinkState provides extra information such as the Cartesian world coordinates
///center of mass (COM) of the link, relative to the world reference frame.
///Orientation is a quaternion x,y,z,w
@@ -127,4 +138,5 @@ enum {
CONTROL_MODE_POSITION_VELOCITY_PD,
};
#endif//SHARED_MEMORY_PUBLIC_H

637
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp Normal file
View File

@@ -0,0 +1,637 @@
/* Copyright (C) 2016 Google
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "TinyRendererVisualShapeConverter.h"
#include "../Importers/ImportURDFDemo/URDFImporterInterface.h"
#include "btBulletCollisionCommon.h"
#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
#include "../Importers/ImportSTLDemo/LoadMeshFromSTL.h"
#include "../Importers/ImportColladaDemo/LoadMeshFromCollada.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "Bullet3Common/b3FileUtils.h"
#include <string>
#include "../Utils/b3ResourcePath.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../OpenGLWindow/SimpleCamera.h"
#include <iostream>
#include <fstream>
#include "../Importers/ImportURDFDemo/UrdfParser.h"
enum MyFileType
{
MY_FILE_STL=1,
MY_FILE_COLLADA=2,
MY_FILE_OBJ=3,
};
struct TinyRendererObjectArray
{
btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects;
};
#define START_WIDTH 640
#define START_HEIGHT 480
struct TinyRendererVisualShapeConverterInternalData
{
btHashMap<btHashPtr,TinyRendererObjectArray*> m_swRenderInstances;
int m_upAxis;
int m_swWidth;
int m_swHeight;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
SimpleCamera m_camera;
TinyRendererVisualShapeConverterInternalData()
:m_upAxis(2),
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB)
{
m_depthBuffer.resize(m_swWidth*m_swHeight);
}
};
TinyRendererVisualShapeConverter::TinyRendererVisualShapeConverter()
{
m_data = new TinyRendererVisualShapeConverterInternalData();
float dist = 1.5;
float pitch = -80;
float yaw = 10;
float targetPos[3]={0,0,0};
m_data->m_camera.setCameraUpAxis(m_data->m_upAxis);
resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
}
TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter()
{
delete m_data;
}
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
{
GLInstanceGraphicsShape* glmesh = 0;
btConvexShape* convexColShape = 0;
switch (visual->m_geometry.m_type)
{
case URDF_GEOM_CYLINDER:
{
btAlignedObjectArray<btVector3> vertices;
//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
int numSteps = 32;
for (int i = 0; i<numSteps; i++)
{
btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
btScalar cylLength = visual->m_geometry.m_cylinderLength;
btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
vertices.push_back(vert);
vert[2] = -cylLength / 2.;
vertices.push_back(vert);
}
btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
cylZShape->setMargin(0.001);
convexColShape = cylZShape;
break;
}
case URDF_GEOM_BOX:
{
btVector3 extents = visual->m_geometry.m_boxSize;
btBoxShape* boxShape = new btBoxShape(extents*0.5f);
//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
convexColShape = boxShape;
convexColShape->setMargin(0.001);
break;
}
case URDF_GEOM_SPHERE:
{
btScalar radius = visual->m_geometry.m_sphereRadius;
btSphereShape* sphereShape = new btSphereShape(radius);
convexColShape = sphereShape;
convexColShape->setMargin(0.001);
break;
break;
}
case URDF_GEOM_MESH:
{
if (visual->m_name.length())
{
//b3Printf("visual->name=%s\n", visual->m_name.c_str());
}
if (1)//visual->m_geometry)
{
if (visual->m_geometry.m_meshFileName.length())
{
const char* filename = visual->m_geometry.m_meshFileName.c_str();
//b3Printf("mesh->filename=%s\n", filename);
char fullPath[1024];
int fileType = 0;
char tmpPathPrefix[1024];
std::string xml_string;
int maxPathLen = 1024;
b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
char visualPathPrefix[1024];
sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".dae"))
{
fileType = MY_FILE_COLLADA;
}
if (strstr(fullPath, ".stl"))
{
fileType = MY_FILE_STL;
}
if (strstr(fullPath,".obj"))
{
fileType = MY_FILE_OBJ;
}
sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
FILE* f = fopen(fullPath, "rb");
if (f)
{
fclose(f);
switch (fileType)
{
case MY_FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
break;
}
case MY_FILE_STL:
{
glmesh = LoadMeshFromSTL(fullPath);
break;
}
case MY_FILE_COLLADA:
{
btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
btTransform upAxisTrans; upAxisTrans.setIdentity();
float unitMeterScaling = 1;
int upAxis = 2;
LoadMeshFromCollada(fullPath,
visualShapes,
visualShapeInstances,
upAxisTrans,
unitMeterScaling,
upAxis);
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i<visualShapeInstances.size(); i++)
{
ColladaGraphicsInstance* instance = &visualShapeInstances[i];
GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
b3AlignedObjectArray<GLInstanceVertex> verts;
verts.resize(gfxShape->m_vertices->size());
int baseIndex = glmesh->m_vertices->size();
for (int i = 0; i<gfxShape->m_vertices->size(); i++)
{
verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
}
int curNumIndices = glmesh->m_indices->size();
int additionalIndices = gfxShape->m_indices->size();
glmesh->m_indices->resize(curNumIndices + additionalIndices);
for (int k = 0; k<additionalIndices; k++)
{
glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
}
//compensate upAxisTrans and unitMeterScaling here
btMatrix4x4 upAxisMat;
upAxisMat.setIdentity();
// upAxisMat.setPureRotation(upAxisTrans.getRotation());
btMatrix4x4 unitMeterScalingMat;
unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
//btMatrix4x4 worldMat = instance->m_worldTransform;
int curNumVertices = glmesh->m_vertices->size();
int additionalVertices = verts.size();
glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
for (int v = 0; v<verts.size(); v++)
{
btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
pos = worldMat*pos;
verts[v].xyzw[0] = float(pos[0]);
verts[v].xyzw[1] = float(pos[1]);
verts[v].xyzw[2] = float(pos[2]);
glmesh->m_vertices->push_back(verts[v]);
}
}
glmesh->m_numIndices = glmesh->m_indices->size();
glmesh->m_numvertices = glmesh->m_vertices->size();
//glmesh = LoadMeshFromCollada(fullPath);
break;
}
default:
{
b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
btAssert(0);
}
}
if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
{
//apply the geometry scaling
for (int i=0;i<glmesh->m_vertices->size();i++)
{
glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
}
}
else
{
b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
}
}
else
{
b3Warning("mesh geometry not found %s\n", fullPath);
}
}
}
break;
}
default:
{
b3Warning("Error: unknown visual geometry type\n");
}
}
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh==0) && convexColShape)
{
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
{
// int strideInBytes = 9*sizeof(float);
int numVertices = hull->numVertices();
int numIndices = hull->numIndices();
glmesh = new GLInstanceGraphicsShape;
// int index = 0;
glmesh->m_indices = new b3AlignedObjectArray<int>();
glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
for (int i = 0; i < numVertices; i++)
{
GLInstanceVertex vtx;
btVector3 pos = hull->getVertexPointer()[i];
vtx.xyzw[0] = pos.x();
vtx.xyzw[1] = pos.y();
vtx.xyzw[2] = pos.z();
vtx.xyzw[3] = 1.f;
pos.normalize();
vtx.normal[0] = pos.x();
vtx.normal[1] = pos.y();
vtx.normal[2] = pos.z();
vtx.uv[0] = 0.5f;
vtx.uv[1] = 0.5f;
glmesh->m_vertices->push_back(vtx);
}
btAlignedObjectArray<int> indices;
for (int i = 0; i < numIndices; i++)
{
glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
}
glmesh->m_numvertices = glmesh->m_vertices->size();
glmesh->m_numIndices = glmesh->m_indices->size();
}
delete hull;
delete convexColShape;
convexColShape = 0;
}
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
{
int baseIndex = verticesOut.size();
for (int i = 0; i < glmesh->m_indices->size(); i++)
{
indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
}
for (int i = 0; i < glmesh->m_vertices->size(); i++)
{
GLInstanceVertex& v = glmesh->m_vertices->at(i);
btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
btVector3 vt = visualTransform*vert;
v.xyzw[0] = vt[0];
v.xyzw[1] = vt[1];
v.xyzw[2] = vt[2];
btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
triNormal = visualTransform.getBasis()*triNormal;
v.normal[0] = triNormal[0];
v.normal[1] = triNormal[1];
v.normal[2] = triNormal[2];
verticesOut.push_back(v);
}
}
delete glmesh;
}
void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colObj)
{
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
for (int v = 0; v < link->m_visualArray.size();v++)
{
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
UrdfMaterial *const * matPtr = model.m_materials[matName];
float rgbaColor[4] = {1,1,1,1};
if (matPtr)
{
UrdfMaterial *const mat = *matPtr;
for (int i=0;i<4;i++)
rgbaColor[i] = mat->m_rgbaColor[i];
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
}
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[colObj];
if (visualsPtr==0)
{
m_data->m_swRenderInstances.insert(colObj,new TinyRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[colObj];
btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *visualsPtr;
convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_swWidth,m_data->m_swHeight,m_data->m_rgbColorBuffer,m_data->m_depthBuffer);
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor);
visuals->m_renderObjects.push_back(tinyObj);
}
}
}
}
void TinyRendererVisualShapeConverter::setUpAxis(int axis)
{
m_data->m_upAxis = axis;
m_data->m_camera.setCameraUpAxis(axis);
m_data->m_camera.update();
}
void TinyRendererVisualShapeConverter::resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
m_data->m_camera.setCameraDistance(camDist);
m_data->m_camera.setCameraPitch(pitch);
m_data->m_camera.setCameraYaw(yaw);
m_data->m_camera.setCameraTargetPosition(camPosX,camPosY,camPosZ);
m_data->m_camera.setAspectRatio((float)m_data->m_swWidth/(float)m_data->m_swHeight);
m_data->m_camera.update();
}
void TinyRendererVisualShapeConverter::clearBuffers(TGAColor& clearColor)
{
for(int y=0;y<m_data->m_swHeight;++y)
{
for(int x=0;x<m_data->m_swWidth;++x)
{
m_data->m_rgbColorBuffer.set(x,y,clearColor);
m_data->m_depthBuffer[x+y*m_data->m_swWidth] = -1e30f;
}
}
}
void TinyRendererVisualShapeConverter::render()
{
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
m_data->m_camera.getCameraProjectionMatrix(projMat);
m_data->m_camera.getCameraViewMatrix(viewMat);
render(viewMat,projMat);
}
void TinyRendererVisualShapeConverter::render(const float viewMat[16], const float projMat[16])
{
//clear the color buffer
TGAColor clearColor;
clearColor.bgra[0] = 255;
clearColor.bgra[1] = 255;
clearColor.bgra[2] = 255;
clearColor.bgra[3] = 255;
clearBuffers(clearColor);
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
btVector3 lightDirWorld(-5,200,-40);
switch (m_data->m_upAxis)
{
case 1:
lightDirWorld = btVector3(-50.f,100,30);
break;
case 2:
lightDirWorld = btVector3(-50.f,30,100);
break;
default:{}
};
lightDirWorld.normalize();
printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
for (int i=0;i<m_data->m_swRenderInstances.size();i++)
{
TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(i);
if (0==visualArrayPtr)
continue;//can this ever happen?
TinyRendererObjectArray* visualArray = *visualArrayPtr;
btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(i);
const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
for (int v=0;v<visualArray->m_renderObjects.size();v++)
{
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
renderObj->m_projectionMatrix[i][j] = projMat[i+4*j];
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
}
}
TinyRenderer::renderObject(*renderObj);
}
}
//printf("write tga \n");
m_data->m_rgbColorBuffer.write_tga_file("camera.tga");
}
void TinyRendererVisualShapeConverter::getWidthAndHeight(int& width, int& height)
{
width = m_data->m_swWidth;
height = m_data->m_swHeight;
}
void TinyRendererVisualShapeConverter::copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied)
{
int w = m_data->m_rgbColorBuffer.get_width();
int h = m_data->m_rgbColorBuffer.get_height();
if (numPixelsCopied)
*numPixelsCopied = 0;
if (widthPtr)
*widthPtr = w;
if (heightPtr)
*heightPtr = h;
int numTotalPixels = w*h;
int numRemainingPixels = numTotalPixels - startPixelIndex;
int numBytesPerPixel = 4;//RGBA
int numRequestedPixels = btMin(rgbaBufferSizeInPixels,numRemainingPixels);
if (numRequestedPixels)
{
for (int i=0;i<numRequestedPixels;i++)
{
if (pixelsRGBA)
{
pixelsRGBA[i*numBytesPerPixel] = m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+0];
pixelsRGBA[i*numBytesPerPixel+1] = m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+1];
pixelsRGBA[i*numBytesPerPixel+2] = m_data->m_rgbColorBuffer.buffer()[(i+startPixelIndex)*3+2];
pixelsRGBA[i*numBytesPerPixel+3] = 255;
}
}
if (numPixelsCopied)
*numPixelsCopied = numRequestedPixels;
}
}
void TinyRendererVisualShapeConverter::resetAll()
{
//todo: free memory
m_data->m_swRenderInstances.clear();
}

38
examples/SharedMemory/TinyRendererVisualShapeConverter.h Normal file
View File

@@ -0,0 +1,38 @@
#ifndef TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
#define TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H
#include "../Importers/ImportURDFDemo/LinkVisualShapesConverter.h"
struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
{
struct TinyRendererVisualShapeConverterInternalData* m_data;
TinyRendererVisualShapeConverter();
virtual ~TinyRendererVisualShapeConverter();
virtual void convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionObject* colShape);
void setUpAxis(int axis);
void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ);
void clearBuffers(struct TGAColor& clearColor);
void resetAll();
void getWidthAndHeight(int& width, int& height);
void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* widthPtr, int* heightPtr, int* numPixelsCopied);
void render();
void render(const float viewMat[16], const float projMat[16]);
};
#endif //TINY_RENDERER_VISUAL_SHAPE_CONVERTER_H

11
examples/SharedMemory/premake4.lua
View File

@@ -40,6 +40,15 @@ files {
"PhysicsLoopBackC_API.h",
"PhysicsServerCommandProcessor.cpp",
"PhysicsServerCommandProcessor.h",
"TinyRendererVisualShapeConverter.cpp",
"TinyRendererVisualShapeConverter.h",
"../TinyRenderer/geometry.cpp",
"../TinyRenderer/model.cpp",
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../OpenGLWindow/SimpleCamera.cpp",
"../OpenGLWindow/SimpleCamera.h",
"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
"../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
@@ -47,8 +56,6 @@ files {
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/UrdfParser.h",

55
examples/StandaloneMain/main_sw_tinyrenderer_single_example.cpp
View File

@@ -148,12 +148,29 @@ public:
clearBuffers(clearColor);
ATTRIBUTE_ALIGNED16(float modelMat[16]);
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
CommonRenderInterface* render = getRenderInterface();
render->getActiveCamera()->getCameraProjectionMatrix(projMat);
render->getActiveCamera()->getCameraViewMatrix(viewMat);
btVector3 lightDirWorld(-5,200,-40);
switch (1)//app->getUpAxis())
{
case 1:
lightDirWorld = btVector3(-50.f,100,30);
break;
case 2:
lightDirWorld = btVector3(-50.f,30,100);
break;
default:{}
};
lightDirWorld.normalize();
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
{
@@ -173,21 +190,25 @@ public:
if (sptr)
{
renderObj = *sptr;
}
}
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
renderObj->m_projectionMatrix[i][j] = projMat[i+4*j];
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
}
}
TinyRenderer::renderObject(*renderObj);
}
}
TinyRenderer::renderObject(*renderObj);
}
}
@@ -210,10 +231,12 @@ public:
static int counter=0;
counter++;
if (counter>10)
if ((counter&7)==0)
{
counter=0;
getFrameBuffer().write_tga_file("/Users/erwincoumans/develop/bullet3/framebuf.tga",true);
char filename[1024];
sprintf(filename,"framebuf%d.tga",counter);
getFrameBuffer().write_tga_file(filename,true);
}
float color[4] = {1,1,1,1};
m_primRenderer->drawTexturedRect(0,0,m_swWidth, m_swHeight,color,0,0,1,1,true);

376
examples/StandaloneMain/main_tinyrenderer_single_example.cpp Normal file
View File

@@ -0,0 +1,376 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2015 Google Inc. http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCollisionShape.h"
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#include "../ExampleBrowser/CollisionShape2TriangleMesh.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btHashMap.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../OpenGLWindow/SimpleCamera.h"
static btVector4 sMyColors[4] =
{
btVector4(0.3,0.3,1,1),
btVector4(0.6,0.6,1,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
//btVector4(1,1,0,1),
};
struct TinyRendererGUIHelper : public GUIHelperInterface
{
int m_upAxis;
btHashMap<btHashInt,TinyRenderObjectData*> m_swRenderObjects;
btHashMap<btHashInt,int> m_swInstances;
int m_swWidth;
int m_swHeight;
TGAImage m_rgbColorBuffer;
b3AlignedObjectArray<float> m_depthBuffer;
SimpleCamera m_camera;
int m_colObjUniqueIndex;
TinyRendererGUIHelper( int swWidth, int swHeight)
: m_upAxis(1),
m_swWidth(swWidth),
m_swHeight(swHeight),
m_rgbColorBuffer(swWidth,swHeight,TGAImage::RGB),
m_colObjUniqueIndex(0)
{
m_depthBuffer.resize(swWidth*swHeight);
}
void clearBuffers(TGAColor& clearColor)
{
for(int y=0;y<m_swHeight;++y)
{
for(int x=0;x<m_swWidth;++x)
{
m_rgbColorBuffer.set(x,y,clearColor);
m_depthBuffer[x+y*m_swWidth] = -1e30f;
}
}
}
const TGAImage& getFrameBuffer() const
{
return m_rgbColorBuffer;
}
virtual ~TinyRendererGUIHelper()
{
for (int i=0;i<m_swRenderObjects.size();i++)
{
TinyRenderObjectData** d = m_swRenderObjects[i];
if (d && *d)
{
delete *d;
}
}
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body,const btVector3& color){}
virtual void createCollisionObjectGraphicsObject(btCollisionObject* obj,const btVector3& color)
{
if (obj->getUserIndex()<0)
{
int colIndex = m_colObjUniqueIndex++;
obj->setUserIndex(colIndex);
int shapeIndex = obj->getCollisionShape()->getUserIndex();
if (colIndex>=0 && shapeIndex>=0)
{
m_swInstances.insert(colIndex,shapeIndex);
}
}
}
virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape)
{
//already has a graphics object?
if (collisionShape->getUserIndex()>=0)
return;
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
btAlignedObjectArray<int> indices;
btTransform startTrans;startTrans.setIdentity();
{
btAlignedObjectArray<btVector3> vertexPositions;
btAlignedObjectArray<btVector3> vertexNormals;
CollisionShape2TriangleMesh(collisionShape,startTrans,vertexPositions,vertexNormals,indices);
gfxVertices.resize(vertexPositions.size());
for (int i=0;i<vertexPositions.size();i++)
{
for (int j=0;j<4;j++)
{
gfxVertices[i].xyzw[j] = vertexPositions[i][j];
}
for (int j=0;j<3;j++)
{
gfxVertices[i].normal[j] = vertexNormals[i][j];
}
for (int j=0;j<2;j++)
{
gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
}
}
}
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0],gfxVertices.size(),&indices[0],indices.size());
collisionShape->setUserIndex(shapeId);
}
}
virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld){}
virtual void render(const btDiscreteDynamicsWorld* rbWorld)
{
//clear the color buffer
TGAColor clearColor;
clearColor.bgra[0] = 255;
clearColor.bgra[1] = 255;
clearColor.bgra[2] = 255;
clearColor.bgra[3] = 255;
clearBuffers(clearColor);
ATTRIBUTE_ALIGNED16(btScalar modelMat[16]);
ATTRIBUTE_ALIGNED16(float viewMat[16]);
ATTRIBUTE_ALIGNED16(float projMat[16]);
m_camera.getCameraProjectionMatrix(projMat);
m_camera.getCameraViewMatrix(viewMat);
btVector3 lightDirWorld(-5,200,-40);
switch (m_upAxis)
{
case 1:
lightDirWorld = btVector3(-50.f,100,30);
break;
case 2:
lightDirWorld = btVector3(-50.f,30,100);
break;
default:{}
};
lightDirWorld.normalize();
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
int colObjIndex = colObj->getUserIndex();
int shapeIndex = colObj->getCollisionShape()->getUserIndex();
if (colObjIndex>=0 && shapeIndex>=0)
{
TinyRenderObjectData* renderObj = 0;
int* cptr = m_swInstances[colObjIndex];
if (cptr)
{
int c = *cptr;
TinyRenderObjectData** sptr = m_swRenderObjects[c];
if (sptr)
{
renderObj = *sptr;
//sync the object transform
const btTransform& tr = colObj->getWorldTransform();
tr.getOpenGLMatrix(modelMat);
for (int i=0;i<4;i++)
{
for (int j=0;j<4;j++)
{
renderObj->m_projectionMatrix[i][j] = projMat[i+4*j];
renderObj->m_modelMatrix[i][j] = modelMat[i+4*j];
renderObj->m_viewMatrix[i][j] = viewMat[i+4*j];
renderObj->m_localScaling = colObj->getCollisionShape()->getLocalScaling();
renderObj->m_lightDirWorld = lightDirWorld;
}
}
TinyRenderer::renderObject(*renderObj);
}
}
}
}
static int counter=0;
counter++;
if ((counter&7)==0)
{
char filename[1024];
sprintf(filename,"framebuf%d.tga",counter);
m_rgbColorBuffer.flip_vertically();
getFrameBuffer().write_tga_file(filename,true);
}
float color[4] = {1,1,1,1};
}
virtual void createPhysicsDebugDrawer( btDiscreteDynamicsWorld* rbWorld){}
virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices)
{
int shapeIndex = m_swRenderObjects.size();
TinyRenderObjectData* swObj = new TinyRenderObjectData(m_swWidth,m_swHeight,m_rgbColorBuffer,m_depthBuffer);
swObj->registerMeshShape(vertices,numvertices,indices,numIndices);
//swObj->createCube(1,1,1);//MeshShape(vertices,numvertices,indices,numIndices);
m_swRenderObjects.insert(shapeIndex,swObj);
return shapeIndex;
}
virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling)
{
int colIndex = m_colObjUniqueIndex++;
if (colIndex>=0 && shapeIndex>=0)
{
TinyRenderObjectData** dPtr = m_swRenderObjects[shapeIndex];
if (dPtr && *dPtr)
{
TinyRenderObjectData* d= *dPtr;
d->m_localScaling.setValue(scaling[0],scaling[1],scaling[2]);
m_swInstances.insert(colIndex,shapeIndex);
}
}
return colIndex;
}
virtual Common2dCanvasInterface* get2dCanvasInterface()
{
return 0;
}
virtual CommonParameterInterface* getParameterInterface()
{
return 0;
}
virtual CommonRenderInterface* getRenderInterface()
{
return 0;
}
virtual CommonGraphicsApp* getAppInterface()
{
return 0;
}
virtual void setUpAxis(int axis)
{
m_upAxis = axis;
m_camera.setCameraUpAxis(axis);
m_camera.update();
}
virtual void resetCamera(float camDist, float pitch, float yaw, float camPosX,float camPosY, float camPosZ)
{
m_camera.setCameraDistance(camDist);
m_camera.setCameraPitch(pitch);
m_camera.setCameraYaw(yaw);
m_camera.setCameraTargetPosition(camPosX,camPosY,camPosZ);
m_camera.setAspectRatio((float)m_swWidth/(float)m_swHeight);
m_camera.update();
}
virtual void copyCameraImageData(unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels, float* depthBuffer, int depthBufferSizeInPixels, int startPixelIndex, int* width, int* height, int* numPixelsCopied)
{
if (width)
*width = 0;
if (height)
*height = 0;
if (numPixelsCopied)
*numPixelsCopied = 0;
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
//btRigidBody* body = btRigidBody::upcast(colObj);
//does this also work for btMultiBody/btMultiBodyLinkCollider?
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
btVector3 color= sMyColors[colorIndex];
createCollisionObjectGraphicsObject(colObj,color);
}
}
virtual void drawText3D( const char* txt, float posX, float posZY, float posZ, float size)
{
}
};
int main(int argc, char* argv[])
{
TinyRendererGUIHelper noGfx(640,480);
CommonExampleOptions options(&noGfx);
CommonExampleInterface* example = StandaloneExampleCreateFunc(options);
example->initPhysics();
example->resetCamera();
for (int i=0;i<1000;i++)
{
printf("Simulating step %d\n",i);
example->stepSimulation(1.f/60.f);
example->renderScene();
}
example->exitPhysics();
delete example;
return 0;
}

110
examples/TinyRenderer/TinyRenderer.cpp
View File

@@ -12,28 +12,36 @@
#include "../OpenGLWindow/ShapeData.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
Vec3f light_dir_world(1,1,1);
struct Shader : public IShader {
Model* m_model;
Vec3f m_light_dir_local;
Matrix& m_modelView;
Matrix& m_modelMat;
Matrix m_invModelMat;
Matrix& m_modelView1;
Matrix& m_projectionMatrix;
Vec3f m_localScaling;
Vec4f m_colorRGBA;
mat<2,3,float> varying_uv; // triangle uv coordinates, written by the vertex shader, read by the fragment shader
mat<4,3,float> varying_tri; // triangle coordinates (clip coordinates), written by VS, read by FS
mat<3,3,float> varying_nrm; // normal per vertex to be interpolated by FS
mat<3,3,float> ndc_tri; // triangle in normalized device coordinates
//mat<3,3,float> ndc_tri; // triangle in normalized device coordinates
Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix)
Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling, const Vec4f& colorRGBA)
:m_model(model),
m_light_dir_local(light_dir_local),
m_modelView(modelView),
m_projectionMatrix(projectionMatrix)
m_modelView1(modelView),
m_projectionMatrix(projectionMatrix),
m_modelMat(modelMat),
m_localScaling(localScaling),
m_colorRGBA(colorRGBA)
{
m_invModelMat = m_modelMat.invert_transpose();
}
virtual Vec4f vertex(int iface, int nthvert) {
@@ -42,10 +50,19 @@ struct Shader : public IShader {
//printf("uv = %f,%f\n", uv.x,uv.y);
varying_uv.set_col(nthvert, uv);
varying_nrm.set_col(nthvert, proj<3>((m_projectionMatrix*m_modelView).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
Vec4f gl_Vertex = m_projectionMatrix*m_modelView*embed<4>(m_model->vert(iface, nthvert));
//varying_nrm.set_col(nthvert, proj<3>((m_projectionMatrix*m_modelView).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
varying_nrm.set_col(nthvert, proj<3>(m_invModelMat*embed<4>(m_model->normal(iface, nthvert), 0.f)));
//m_localNormal = m_model->normal(iface, nthvert);
//varying_nrm.set_col(nthvert, m_model->normal(iface, nthvert));
Vec3f unScaledVert = m_model->vert(iface, nthvert);
Vec3f scaledVert=Vec3f(unScaledVert[0]*m_localScaling[0],unScaledVert[1]*m_localScaling[1],unScaledVert[2]*m_localScaling[2]);
Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(scaledVert);
varying_tri.set_col(nthvert, gl_Vertex);
ndc_tri.set_col(nthvert, proj<3>(gl_Vertex/gl_Vertex[3]));
//ndc_tri.set_col(nthvert, proj<3>(gl_Vertex/gl_Vertex[3]));
return gl_Vertex;
}
@@ -53,26 +70,17 @@ struct Shader : public IShader {
Vec3f bn = (varying_nrm*bar).normalize();
Vec2f uv = varying_uv*bar;
mat<3,3,float> A;
A[0] = ndc_tri.col(1) - ndc_tri.col(0);
A[1] = ndc_tri.col(2) - ndc_tri.col(0);
A[2] = bn;
mat<3,3,float> AI = A.invert();
Vec3f i = AI * Vec3f(varying_uv[0][1] - varying_uv[0][0], varying_uv[0][2] - varying_uv[0][0], 0);
Vec3f j = AI * Vec3f(varying_uv[1][1] - varying_uv[1][0], varying_uv[1][2] - varying_uv[1][0], 0);
mat<3,3,float> B;
B.set_col(0, i.normalize());
B.set_col(1, j.normalize());
B.set_col(2, bn);
Vec3f n = (B*m_model->normal(uv)).normalize();
float diff = b3Min(b3Max(0.f, n*m_light_dir_local+0.3f),1.f);
//float diff = 1;//full-bright
float ambient = 0.7;
//float diff = ambient+b3Min(b3Max(0.f, bn*light_dir_world),(1-ambient));
float diff = ambient+b3Min(b3Max(0.f, bn*m_light_dir_local),(1-ambient));
//float diff = b3Max(0.f, n*m_light_dir_local);
color = m_model->diffuse(uv)*diff;
//colors are store in BGRA?
color = TGAColor(color[0]*m_colorRGBA[2],
color[1]*m_colorRGBA[1],
color[2]*m_colorRGBA[0],
color[3]*m_colorRGBA[3]);
return false;
}
@@ -90,11 +98,14 @@ m_userIndex(-1)
{
Vec3f eye(1,1,3);
Vec3f center(0,0,0);
Vec3f up(0,1,0);
Vec3f up(0,0,1);
m_lightDirWorld.setValue(0,0,0);
m_localScaling.setValue(1,1,1);
m_modelMatrix = Matrix::identity();
m_viewMatrix = lookat(eye, center, up);
m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
//m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
//m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
m_viewportMatrix = viewport(0,0,width,height);
m_projectionMatrix = projection(-1.f/(eye-center).norm());
}
@@ -113,15 +124,24 @@ void TinyRenderObjectData::loadModel(const char* fileName)
}
void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices)
void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices, const float rgbaColor[4],
unsigned char* textureImage, int textureWidth, int textureHeight)
{
if (0==m_model)
{
m_model = new Model();
char relativeFileName[1024];
if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
m_model->setColorRGBA(rgbaColor);
if (textureImage)
{
m_model->loadDiffuseTexture(relativeFileName);
m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
} else
{
/*char relativeFileName[1024];
if (b3ResourcePath::findResourcePath("floor_diffuse.tga", relativeFileName, 1024))
{
m_model->loadDiffuseTexture(relativeFileName);
}
*/
}
for (int i=0;i<numVertices;i++)
@@ -219,21 +239,35 @@ TinyRenderObjectData::~TinyRenderObjectData()
void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
Vec3f light_dir_local = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
Model* model = renderData.m_model;
if (0==model)
return;
//renderData.m_viewMatrix = lookat(eye, center, up);
int width = renderData.m_width;
int height = renderData.m_height;
//renderData.m_viewportMatrix = viewport(width/8, height/8, width*3/4, height*3/4);
renderData.m_viewportMatrix = viewport(0,0,renderData.m_width,renderData.m_height);
//renderData.m_projectionMatrix = projection(-1.f/(eye-center).norm());
b3AlignedObjectArray<float>& zbuffer = renderData.m_depthBuffer;
TGAImage& frame = renderData.m_rgbColorBuffer;
Vec3f light_dir_local = proj<3>((renderData.m_projectionMatrix*renderData.m_viewMatrix*renderData.m_modelMatrix*embed<4>(light_dir_world, 0.f))).normalize();
{
Matrix modelViewMatrix = renderData.m_viewMatrix*renderData.m_modelMatrix;
Vec3f localScaling(renderData.m_localScaling[0],renderData.m_localScaling[1],renderData.m_localScaling[2]);
Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix, localScaling, model->getColorRGBA());
printf("Render %d triangles.\n",model->nfaces());
for (int i=0; i<model->nfaces(); i++)
{
Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix);
for (int i=0; i<model->nfaces(); i++) {
for (int j=0; j<3; j++) {
shader.vertex(i, j);
}

5
examples/TinyRenderer/TinyRenderer.h
View File

@@ -16,6 +16,8 @@ struct TinyRenderObjectData
Matrix m_viewMatrix;
Matrix m_projectionMatrix;
Matrix m_viewportMatrix;
btVector3 m_localScaling;
btVector3 m_lightDirWorld;
//Model (vertices, indices, textures, shader)
Matrix m_modelMatrix;
@@ -33,7 +35,8 @@ struct TinyRenderObjectData
void loadModel(const char* fileName);
void createCube(float HalfExtentsX,float HalfExtentsY,float HalfExtentsZ);
void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices);
void registerMeshShape(const float* vertices, int numVertices,const int* indices, int numIndices, const float rgbaColor[4],
unsigned char* textureImage=0, int textureWidth=0, int textureHeight=0);
void registerMesh2(btAlignedObjectArray<btVector3>& vertices, btAlignedObjectArray<btVector3>& normals,btAlignedObjectArray<int>& indices);

30
examples/TinyRenderer/model.cpp
View File

@@ -49,6 +49,28 @@ Model::Model():verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(),
{
}
void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight)
{
diffusemap_ = TGAImage(textureWidth, textureHeight, TGAImage::RGB);
for (int i=0;i<textureWidth;i++)
{
for (int j=0;j<textureHeight;j++)
{
TGAColor color;
color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
color.bgra[3] = 255;
color.bytespp = 3;
diffusemap_.set(i,j,color);
}
}
diffusemap_.flip_vertically();
}
void Model::loadDiffuseTexture(const char* relativeFileName)
{
diffusemap_.read_tga_file(relativeFileName);
@@ -108,8 +130,12 @@ void Model::load_texture(std::string filename, const char *suffix, TGAImage &img
}
TGAColor Model::diffuse(Vec2f uvf) {
Vec2i uv(uvf[0]*diffusemap_.get_width(), uvf[1]*diffusemap_.get_height());
return diffusemap_.get(uv[0], uv[1]);
if (diffusemap_.get_width() && diffusemap_.get_height())
{
Vec2i uv(uvf[0]*diffusemap_.get_width(), uvf[1]*diffusemap_.get_height());
return diffusemap_.get(uv[0], uv[1]);
}
return TGAColor(255,255,255,255);
}
Vec3f Model::normal(Vec2f uvf) {

13
examples/TinyRenderer/model.h
View File

@@ -14,11 +14,24 @@ private:
TGAImage diffusemap_;
TGAImage normalmap_;
TGAImage specularmap_;
Vec4f m_colorRGBA;
void load_texture(std::string filename, const char *suffix, TGAImage &img);
public:
Model(const char *filename);
Model();
void setColorRGBA(const float rgba[4])
{
for (int i=0;i<4;i++)
m_colorRGBA[i] = rgba[i];
}
const Vec4f& getColorRGBA() const
{
return m_colorRGBA;
}
void loadDiffuseTexture(const char* relativeFileName);
void setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight);
void addVertex(float x,float y,float z, float normalX, float normalY, float normalZ, float u, float v);
void addTriangle(int vertexposIndex0, int normalIndex0, int uvIndex0,
int vertexposIndex1, int normalIndex1, int uvIndex1,

8
examples/TinyRenderer/our_gl.cpp
View File

@@ -60,7 +60,7 @@ Vec3f barycentric(Vec2f A, Vec2f B, Vec2f C, Vec2f P) {
}
void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, const Matrix& viewPortMatrix) {
mat<3,4,float> pts = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
mat<3,4,float> pts = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
//we don't clip triangles that cross the near plane, just discard them instead of showing artifacts
@@ -93,8 +93,10 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
Vec3f bc_clip = Vec3f(bc_screen.x/pts[0][3], bc_screen.y/pts[1][3], bc_screen.z/pts[2][3]);
bc_clip = bc_clip/(bc_clip.x+bc_clip.y+bc_clip.z);
float frag_depth = clipc[2]*bc_clip;
if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 || zbuffer[P.x+P.y*image.get_width()]>frag_depth) continue;
float frag_depth = -1*(clipc[2]*bc_clip);
if (bc_screen.x<0 || bc_screen.y<0 || bc_screen.z<0 ||
zbuffer[P.x+P.y*image.get_width()]>frag_depth)
continue;
bool discard = shader.fragment(bc_clip, color);
if (!discard) {
zbuffer[P.x+P.y*image.get_width()] = frag_depth;

48
examples/pybullet/CMakeLists.txt
View File

@@ -8,7 +8,51 @@ INCLUDE_DIRECTORIES(
SET(pybullet_SRCS
pybullet.c
../../examples/ExampleBrowser/ExampleEntries.cpp
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerExample.cpp
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
IF(WIN32)
@@ -23,7 +67,7 @@ ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})
TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen Bullet3Common ${PYTHON_LIBRARIES})

140
examples/pybullet/pybullet.c
View File

@@ -1,7 +1,6 @@
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
#ifdef __APPLE__
@@ -127,14 +126,14 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
int size= PySequence_Size(args);
int bodyIndex = -1;
const char* urdfFileName=0;
const char* urdfFileName="";
float startPosX =0;
float startPosY =0;
float startPosZ = 1;
float startOrnX = 0;
float startOrnY = 0;
float startOrnZ = 0;
float startOwnW = 1;
float startOrnW = 1;
printf("size=%d\n", size);
if (0==sm)
{
@@ -152,12 +151,13 @@ pybullet_loadURDF(PyObject* self, PyObject* args)
&startPosX,&startPosY,&startPosZ))
return NULL;
}
if (size==7)
if (size==8)
{
if (!PyArg_ParseTuple(args, "sfffffff", &urdfFileName,
&startPosX,startPosY,&startPosZ,
&startOrnX,&startOrnY,&startOrnZ, &startOwnW))
&startPosX,&startPosY,&startPosZ,
&startOrnX,&startOrnY,&startOrnZ, &startOrnW))
return NULL;
}
{
@@ -224,25 +224,114 @@ pybullet_setGravity(PyObject* self, PyObject* args)
//ASSERT_EQ(b3GetStatusType(statusHandle), CMD_CLIENT_COMMAND_COMPLETED);
}
if (1)
{
PyObject *pylist;
PyObject *item;
int i;
int num=3;
pylist = PyTuple_New(num);
for (i = 0; i < num; i++)
{
item = PyFloat_FromDouble(i);
PyTuple_SetItem(pylist, i, item);
}
return pylist;
}
Py_INCREF(Py_None);
return Py_None;
}
static void pybullet_internalGetBasePositionAndOrientation(int bodyIndex, double basePosition[3],double baseOrientation[3])
{
basePosition[0] = 0.;
basePosition[1] = 0.;
basePosition[2] = 0.;
baseOrientation[0] = 0.;
baseOrientation[1] = 0.;
baseOrientation[2] = 0.;
baseOrientation[3] = 1.;
{
{
b3SharedMemoryCommandHandle cmd_handle =
b3RequestActualStateCommandInit(sm, bodyIndex);
b3SharedMemoryStatusHandle status_handle =
b3SubmitClientCommandAndWaitStatus(sm, cmd_handle);
const int status_type = b3GetStatusType(status_handle);
const double* actualStateQ;
b3GetStatusActualState(status_handle, 0/* body_unique_id */,
0/* num_degree_of_freedom_q */,
0/* num_degree_of_freedom_u */, 0 /*root_local_inertial_frame*/,
&actualStateQ , 0 /* actual_state_q_dot */,
0 /* joint_reaction_forces */);
//now, position x,y,z = actualStateQ[0],actualStateQ[1],actualStateQ[2]
//and orientation x,y,z,w = actualStateQ[3],actualStateQ[4],actualStateQ[5],actualStateQ[6]
basePosition[0] = actualStateQ[0];
basePosition[1] = actualStateQ[1];
basePosition[2] = actualStateQ[2];
baseOrientation[0] = actualStateQ[3];
baseOrientation[1] = actualStateQ[4];
baseOrientation[2] = actualStateQ[5];
baseOrientation[3] = actualStateQ[6];
}
}
}
static PyObject *
pybullet_getBasePositionAndOrientation(PyObject* self, PyObject* args)
{
if (0==sm)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
int bodyIndex = -1;
if (!PyArg_ParseTuple(args, "i", &bodyIndex ))
{
PyErr_SetString(SpamError, "Expected a body index (integer).");
return NULL;
}
double basePosition[3];
double baseOrientation[4];
pybullet_internalGetBasePositionAndOrientation(bodyIndex,basePosition,baseOrientation);
PyObject *pylistPos;
{
PyObject *item;
int i;
int num=3;
pylistPos = PyTuple_New(num);
for (i = 0; i < num; i++)
{
item = PyFloat_FromDouble(basePosition[i]);
PyTuple_SetItem(pylistPos, i, item);
}
}
PyObject *pylistOrientation;
{
PyObject *item;
int i;
int num=4;
pylistOrientation = PyTuple_New(num);
for (i = 0; i < num; i++)
{
item = PyFloat_FromDouble(baseOrientation[i]);
PyTuple_SetItem(pylistOrientation, i, item);
}
}
{
PyObject *pylist;
pylist = PyTuple_New(2);
PyTuple_SetItem(pylist,0,pylistPos);
PyTuple_SetItem(pylist,1,pylistOrientation);
return pylist;
}
}
static PyObject *
pybullet_getNumJoints(PyObject* self, PyObject* args)
{
@@ -290,6 +379,9 @@ static PyMethodDef SpamMethods[] = {
{"setGravity", pybullet_setGravity, METH_VARARGS,
"Set the gravity acceleration (x,y,z)."},
{"getBasePositionAndOrientation", pybullet_getBasePositionAndOrientation, METH_VARARGS,
"Get the world position and orientation of the base of the object. (x,y,z) position vector and (x,y,z,w) quaternion orientation."},
{"getNumsetGravity", pybullet_setGravity, METH_VARARGS,
"Set the gravity acceleration (x,y,z)."},
{
@@ -329,8 +421,14 @@ initpybullet(void)
SpamMethods, "Python bindings for Bullet");
#endif
#if PY_MAJOR_VERSION >= 3
if (m == NULL)
return m;
#else
if (m == NULL)
return;
#endif
PyModule_AddIntConstant (m, "SHARED_MEMORY", eCONNECT_SHARED_MEMORY); // user read
PyModule_AddIntConstant (m, "DIRECT", eCONNECT_DIRECT); // user read

4
examples/pybullet/test.py
View File

@@ -2,7 +2,7 @@ import pybullet
import time
#choose connection method: GUI, DIRECT, SHARED_MEMORY
pybullet.connect(pybullet.SHARED_MEMORY)
pybullet.connect(pybullet.GUI)
#load URDF, given a relative or absolute file+path
obj = pybullet.loadURDF("r2d2.urdf")
@@ -24,6 +24,8 @@ pybullet.setGravity(0,0,-9.8)
t_end = time.time() + 5
while time.time() < t_end:
pybullet.stepSimulation()
posAndOrn = pybullet.getBasePositionAndOrientation(obj)
print (posAndOrn)
print ("finished")
#remove all objects

26
src/Bullet3OpenCL/RigidBody/kernels/updateAabbsKernel.h
View File

@@ -363,17 +363,33 @@ static const char* updateAabbsKernelCL= \
" int m_compoundBvhIndex;\n"
" };\n"
" int m_shapeType;\n"
" int m_shapeIndex;\n"
" union\n"
" {\n"
" int m_shapeIndex;\n"
" float m_height;\n"
" };\n"
"};\n"
"typedef struct b3GpuChildShape b3GpuChildShape_t;\n"
"struct b3GpuChildShape\n"
"{\n"
" b3Float4 m_childPosition;\n"
" b3Quat m_childOrientation;\n"
" int m_shapeIndex;\n"
" int m_unused0;\n"
" int m_unused1;\n"
" int m_unused2;\n"
" union\n"
" {\n"
" int m_shapeIndex;//used for SHAPE_COMPOUND_OF_CONVEX_HULLS\n"
" int m_capsuleAxis;\n"
" };\n"
" union \n"
" {\n"
" float m_radius;//used for childshape of SHAPE_COMPOUND_OF_SPHERES or SHAPE_COMPOUND_OF_CAPSULES\n"
" int m_numChildShapes;//used for compound shape\n"
" };\n"
" union \n"
" {\n"
" float m_height;//used for childshape of SHAPE_COMPOUND_OF_CAPSULES\n"
" int m_collidableShapeIndex;\n"
" };\n"
" int m_shapeType;\n"
"};\n"
"struct b3CompoundOverlappingPair\n"
"{\n"

2
src/BulletDynamics/ConstraintSolver/btSliderConstraint.h
View File

@@ -25,6 +25,8 @@ TODO:
#ifndef BT_SLIDER_CONSTRAINT_H
#define BT_SLIDER_CONSTRAINT_H
#include "LinearMath/btScalar.h"//for BT_USE_DOUBLE_PRECISION
#ifdef BT_USE_DOUBLE_PRECISION
#define btSliderConstraintData2 btSliderConstraintDoubleData
#define btSliderConstraintDataName "btSliderConstraintDoubleData"

13
src/LinearMath/btHashMap.h
View File

@@ -395,6 +395,19 @@ protected:
return &m_valueArray[index];
}
Key getKeyAtIndex(int index)
{
btAssert(index < m_keyArray.size());
return m_keyArray[index];
}
const Key getKeyAtIndex(int index) const
{
btAssert(index < m_keyArray.size());
return m_keyArray[index];
}
Value* operator[](const Key& key) {
return find(key);
}

3
src/LinearMath/btScalar.h
View File

@@ -17,6 +17,7 @@ subject to the following restrictions:
#ifndef BT_SCALAR_H
#define BT_SCALAR_H
#ifdef BT_MANAGED_CODE
//Aligned data types not supported in managed code
#pragma unmanaged
@@ -104,7 +105,7 @@ inline int btGetVersion()
#ifdef BT_DEBUG
#ifdef _MSC_VER
#include <stdio.h>
#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u ("#x")\n", __LINE__);__debugbreak(); }}
#define btAssert(x) { if(!(x)){printf("Assert "__FILE__ ":%u (%s)\n", __LINE__, #x);__debugbreak(); }}
#else//_MSC_VER
#include <assert.h>
#define btAssert assert

3
test/InverseDynamics/premake4.lua
View File

@@ -73,9 +73,6 @@
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.h",

11
test/SharedMemory/CMakeLists.txt
View File

@@ -48,6 +48,15 @@ ENDIF()
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
@@ -62,6 +71,8 @@ ENDIF()
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
)
ADD_TEST(Test_PhysicsClientServer_PASS Test_PhysicsClientServer)

25
test/SharedMemory/premake4.lua
View File

@@ -66,6 +66,15 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
@@ -123,6 +132,15 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
@@ -212,6 +230,13 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",

5
xcode.command Executable file
View File

@@ -0,0 +1,5 @@
cd `dirname $0`
cd build3
./premake4_osx xcode4
open xcode4/0_Bullet3Solution.xcworkspace