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

add texture support in SDF, URDF for both OpenGL and software renderer (TinyRenderer)

Browse Source
This commit is contained in:
Erwin Coumans
2016-06-18 18:02:20 -07:00
parent 6369e3e12a
commit e3b2b1a969
8 changed files with 143 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
data/sphere2.urdf
View File

@@ -9,7 +9,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
</geometry>
</visual>
<collision>

26
data/two_cubes.sdf
View File

@@ -122,11 +122,13 @@
</collision>
<visual name='visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<mesh>
<scale>1 1 1</scale>
<uri>cube.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1 1 1 1</diffuse>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
@@ -172,17 +174,15 @@
</friction>
</surface>
</collision>
<visual name='visual'>
<visual name='visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<mesh>
<scale>1 1 1</scale>
<uri>cube.obj</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
<self_collide>0</self_collide>

29
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
View File

@@ -1,11 +1,8 @@
#include "b3ImportMeshUtility.h"
#include <vector>
#include "../../OpenGLWindow/GLInstancingRenderer.h"
#include"Wavefront/tiny_obj_loader.h"
#include "../../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "btBulletDynamicsCommon.h"
#include "../../OpenGLWindow/SimpleOpenGL3App.h"
#include "LinearMath/btVector3.h"
#include "../ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h"
#include "../../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3FileUtils.h"
@@ -88,28 +85,4 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
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;
}

1
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
View File

@@ -15,7 +15,6 @@ struct b3ImportMeshData
class b3ImportMeshUtility
{
public:
static int loadAndRegisterMeshFromFile(const std::string& fileName, class CommonRenderInterface* renderer);
static bool loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData);

26
examples/Importers/ImportObjDemo/ImportObjExample.cpp
View File

@@ -56,7 +56,31 @@ ImportObjSetup::~ImportObjSetup()
int loadAndRegisterMeshFromFile2(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;
}
@@ -77,7 +101,7 @@ void ImportObjSetup::initPhysics()
btVector3 scaling(1,1,1);
btVector3 color(1,1,1);
int shapeId = b3ImportMeshUtility::loadAndRegisterMeshFromFile(m_fileName, m_guiHelper->getRenderInterface());
int shapeId = loadAndRegisterMeshFromFile2(m_fileName, m_guiHelper->getRenderInterface());
if (shapeId>=0)
{
//int id =

55
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -13,7 +13,7 @@ subject to the following restrictions:
#include "BulletUrdfImporter.h"
#include "../../CommonInterfaces/CommonRenderInterface.h"
#include "URDFImporterInterface.h"
#include "btBulletCollisionCommon.h"
@@ -26,12 +26,20 @@ subject to the following restrictions:
#include <string>
#include "../../Utils/b3ResourcePath.h"
#include "../ImportMeshUtility/b3ImportMeshUtility.h"
#include <iostream>
#include <fstream>
#include "UrdfParser.h"
struct MyTexture
{
int m_width;
int m_height;
unsigned char* textureData;
};
struct BulletURDFInternalData
{
UrdfParser m_urdfParser;
@@ -589,7 +597,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
}
static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture>& texturesOut)
{
@@ -693,7 +701,23 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
{
case FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
// glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fullPath, meshData))
{
if (meshData.m_textureImage)
{
MyTexture texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
}
break;
}
@@ -914,6 +938,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
btAlignedObjectArray<MyTexture> textures;
const UrdfModel& model = m_data->m_urdfParser.getModel();
UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
@@ -934,14 +959,34 @@ 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);
}
convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
}
}
if (vertices.size() && indices.size())
{
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
// graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
//graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
if (renderer)
{
int textureIndex = -1;
if (textures.size())
{
textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
}
graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
}
}
//delete textures
for (int i=0;i<textures.size();i++)
{
delete textures[i].textureData;
}
return graphicsIndex;
}

2
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
View File

@@ -128,7 +128,7 @@ ImportUrdfSetup::ImportUrdfSetup(struct GUIHelperInterface* helper, int option,
if (gFileNameArray.size()==0)
{
gFileNameArray.push_back("r2d2.urdf");
gFileNameArray.push_back("sphere2.urdf");
}

58
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -28,7 +28,7 @@ subject to the following restrictions:
#include "../Utils/b3ResourcePath.h"
#include "../TinyRenderer/TinyRenderer.h"
#include "../OpenGLWindow/SimpleCamera.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include <iostream>
#include <fstream>
#include "../Importers/ImportURDFDemo/UrdfParser.h"
@@ -41,6 +41,13 @@ enum MyFileType
MY_FILE_OBJ=3,
};
struct MyTexture2
{
unsigned char* textureData;
int m_width;
int m_height;
};
struct TinyRendererObjectArray
{
btAlignedObjectArray< TinyRenderObjectData*> m_renderObjects;
@@ -95,7 +102,7 @@ TinyRendererVisualShapeConverter::~TinyRendererVisualShapeConverter()
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture2>& texturesOut)
{
@@ -201,7 +208,23 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
{
case MY_FILE_OBJ:
{
glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
//glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fullPath, meshData))
{
if (meshData.m_textureImage)
{
MyTexture2 texData;
texData.m_width = meshData.m_textureWidth;
texData.m_height = meshData.m_textureHeight;
texData.textureData = meshData.m_textureImage;
texturesOut.push_back(texData);
}
glmesh = meshData.m_gfxShape;
}
break;
}
@@ -420,10 +443,6 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
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)
@@ -433,6 +452,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
for (int v = 0; v < link->m_visualArray.size();v++)
{
btAlignedObjectArray<MyTexture2> textures;
btAlignedObjectArray<GLInstanceVertex> vertices;
btAlignedObjectArray<int> indices;
btTransform startTrans; startTrans.setIdentity();
int graphicsIndex = -1;
const UrdfVisual& vis = link->m_visualArray[v];
btTransform childTrans = vis.m_linkLocalFrame;
btHashString matName(vis.m_materialName.c_str());
@@ -458,14 +483,29 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
btAssert(visualsPtr);
TinyRendererObjectArray* visuals = *visualsPtr;
convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures);
if (vertices.size() && indices.size())
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer,m_data->m_depthBuffer);
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor);
unsigned char* textureImage=0;
int textureWidth=0;
int textureHeight=0;
if (textures.size())
{
textureImage = textures[0].textureData;
textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height;
}
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor,
textureImage,textureWidth,textureHeight);
visuals->m_renderObjects.push_back(tinyObj);
}
for (int i=0;i<textures.size();i++)
{
delete textures[i].textureData;
}
}
}
}