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Merge pull request #642 from erwincoumans/master

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Preliminary working version of TinyRenderer without OpenGL/X11. Fix pybullet getPositionAndOrientation crash.
This commit is contained in:
erwincoumans
2016-05-26 22:00:18 -07:00
parent f34b421095 de9bd65c19
commit f94809417c
15 changed files with 809 additions and 88 deletions
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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"

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"
}

37
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};
@@ -87,8 +87,11 @@ 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));
float scaling[4] = {0.1,0.1,0.1,1};
shape->setLocalScaling(btVector3(0.1,0.1,0.1));
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);
btVector3 color(1,1,1);
btVector3 scaling(0.1,0.1,0.1);
btRigidBody* body = createRigidBody(mass,startTransform,shape);
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)

222
examples/ExtendedTutorials/premake4.lua Normal file
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@@ -0,0 +1,222 @@
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/DefaultVisualShapeConverter.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/DefaultVisualShapeConverter.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/DefaultVisualShapeConverter.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/DefaultVisualShapeConverter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

10
examples/InverseDynamics/InverseDynamicsExample.cpp
View File

@@ -87,10 +87,10 @@ 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]);
}
};
@@ -239,7 +239,7 @@ 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);

53
examples/InverseDynamics/premake4.lua
View File

@@ -165,3 +165,56 @@ 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/DefaultVisualShapeConverter.cpp",
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../Importers/ImportURDFDemo/UrdfParser.cpp",
"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
}

31
examples/RenderingExamples/TinyRendererSetup.cpp
View File

@@ -125,6 +125,16 @@ struct TinyRendererSetup : public CommonExampleInterface
{
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]);
}
};
@@ -335,13 +345,20 @@ void TinyRendererSetup::stepSimulation(float deltaTime)
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];
float eye[4];
float center[4];
render->getActiveCamera()->getCameraPosition(eye);
render->getActiveCamera()->getCameraTargetPosition(center);
m_internalData->m_renderObjects[o]->m_eye.setValue(eye[0],eye[1],eye[2]);
m_internalData->m_renderObjects[o]->m_center.setValue(center[0],center[1],center[2]);
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:{}
};
m_internalData->m_renderObjects[o]->m_lightDirWorld = lightDirWorld.normalized();
}
}
TinyRenderer::renderObject(*m_internalData->m_renderObjects[o]);

57
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);

365
examples/StandaloneMain/main_tinyrenderer_single_example.cpp Normal file
View File

@@ -0,0 +1,365 @@
/*
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 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;
}

55
examples/TinyRenderer/TinyRenderer.cpp
View File

@@ -12,7 +12,7 @@
#include "../OpenGLWindow/ShapeData.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btVector3.h"
Vec3f light_dir_world(1,1,1);
Vec3f light_dir_world(0,0,0);
struct Shader : public IShader {
@@ -22,18 +22,20 @@ struct Shader : public IShader {
Matrix& m_modelMat;
Matrix& m_modelView1;
Matrix& m_projectionMatrix;
Vec3f m_localScaling;
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, Matrix& modelMat)
Shader(Model* model, Vec3f light_dir_local, Matrix& modelView, Matrix& projectionMatrix, Matrix& modelMat, Vec3f localScaling)
:m_model(model),
m_light_dir_local(light_dir_local),
m_modelView1(modelView),
m_projectionMatrix(projectionMatrix),
m_modelMat(modelMat)
m_modelMat(modelMat),
m_localScaling(localScaling)
{
}
@@ -46,9 +48,12 @@ struct Shader : public IShader {
//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_modelMat).invert_transpose()*embed<4>(m_model->normal(iface, nthvert), 0.f)));
Vec4f gl_Vertex = m_projectionMatrix*m_modelView1*embed<4>(m_model->vert(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;
}
@@ -56,25 +61,9 @@ 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 = 1;//b3Min(b3Max(0.f, n*0.3f),1.f);
float diff = b3Min(b3Max(0.f, bn*light_dir_world+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 = b3Max(0.f, n*m_light_dir_local);
color = m_model->diffuse(uv)*diff;
@@ -95,7 +84,8 @@ m_userIndex(-1)
Vec3f eye(1,1,3);
Vec3f center(0,0,0);
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);
@@ -232,14 +222,12 @@ TinyRenderObjectData::~TinyRenderObjectData()
void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
light_dir_world = Vec3f(renderData.m_lightDirWorld[0],renderData.m_lightDirWorld[1],renderData.m_lightDirWorld[2]);
Model* model = renderData.m_model;
if (0==model)
return;
Vec3f eye(renderData.m_eye[0],renderData.m_eye[1],renderData.m_eye[2]);
Vec3f center(renderData.m_center[0],renderData.m_center[1],renderData.m_center[2]);
Vec3f up(0,0,1);
//renderData.m_viewMatrix = lookat(eye, center, up);
int width = renderData.m_width;
@@ -258,9 +246,10 @@ void TinyRenderer::renderObject(TinyRenderObjectData& renderData)
{
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);
Shader shader(model, light_dir_local, modelViewMatrix, renderData.m_projectionMatrix,renderData.m_modelMatrix);
for (int i=0; i<model->nfaces(); i++) {

5
examples/TinyRenderer/TinyRenderer.h
View File

@@ -16,9 +16,8 @@ struct TinyRenderObjectData
Matrix m_viewMatrix;
Matrix m_projectionMatrix;
Matrix m_viewportMatrix;
btVector3 m_eye;
btVector3 m_center;
btVector3 m_localScaling;
btVector3 m_lightDirWorld;
//Model (vertices, indices, textures, shader)
Matrix m_modelMatrix;

11
examples/pybullet/pybullet.c
View File

@@ -126,14 +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)
{
@@ -151,12 +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;
}
{

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"

1
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