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first version of 'getVisualShapeData' to get visual shape information to allow external renderer with pybullet and shared memory robotics API

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b3InitRequestVisualShapeInformation/b3GetVisualShapeInformation in shared memory API
This commit is contained in:
erwin coumans
2016-10-18 22:05:28 -07:00
parent d1ab6c144b
commit f97cb7002d
22 changed files with 490 additions and 27 deletions
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47
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -25,6 +25,11 @@ struct MyMotorInfo2
int camVisualizerWidth = 320;//1024/3;
int camVisualizerHeight = 240;//768/3;
enum CustomCommands
{
CMD_CUSTOM_SET_REALTIME_SIMULATION = CMD_MAX_CLIENT_COMMANDS+1,
CMD_CUSTOM_SET_GRAVITY
};
#define MAX_NUM_MOTORS 128
@@ -306,7 +311,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
for (int i = 0; i < numJoints; ++i) {
struct b3JointSensorState sensorState;
b3GetJointState(m_physicsClientHandle, statusHandle, i, &sensorState);
b3Printf("Joint %d: %f", i, sensorState.m_jointMotorTorque);
//b3Printf("Joint %d: %f", i, sensorState.m_jointMotorTorque);
}
}
break;
@@ -410,12 +415,20 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS: {
case CMD_CUSTOM_SET_GRAVITY: {
b3SharedMemoryCommandHandle commandHandle = b3InitPhysicsParamCommand(m_physicsClientHandle);
b3PhysicsParamSetGravity(commandHandle, 0.0, 0.0, -9.8);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CUSTOM_SET_REALTIME_SIMULATION:
{
b3SharedMemoryCommandHandle commandHandle = b3InitPhysicsParamCommand(m_physicsClientHandle);
b3PhysicsParamSetRealTimeSimulation(commandHandle,1);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_CALCULATE_INVERSE_DYNAMICS:
{
@@ -458,6 +471,16 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
case CMD_REQUEST_VISUAL_SHAPE_INFO:
{
if (m_selectedBody >= 0)
{
//request visual shape information
b3SharedMemoryCommandHandle commandHandle = b3InitRequestVisualShapeInformation(m_physicsClientHandle, m_selectedBody);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
}
break;
}
default:
{
b3Error("Unknown buttonId");
@@ -535,6 +558,8 @@ void PhysicsClientExample::createButtons()
createButton("Save World",CMD_SAVE_WORLD, isTrigger);
createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION, isTrigger);
createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION, isTrigger);
createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO, isTrigger);
createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM, isTrigger);
if (m_options!=eCLIENTEXAMPLE_SERVER)
{
@@ -545,7 +570,7 @@ void PhysicsClientExample::createButtons()
createButton("Create Cylinder Body",CMD_CREATE_RIGID_BODY,isTrigger);
createButton("Reset Simulation",CMD_RESET_SIMULATION,isTrigger);
createButton("Initialize Pose",CMD_INIT_POSE, isTrigger);
createButton("Set gravity", CMD_SEND_PHYSICS_SIMULATION_PARAMETERS, isTrigger);
createButton("Set gravity", CMD_CUSTOM_SET_GRAVITY, isTrigger);
createButton("Compute Inverse Dynamics", CMD_CALCULATE_INVERSE_DYNAMICS, isTrigger);
createButton("Get Contact Point Info", CMD_REQUEST_CONTACT_POINT_INFORMATION, isTrigger);
@@ -584,7 +609,7 @@ void PhysicsClientExample::createButtons()
{
b3JointInfo info;
b3GetJointInfo(m_physicsClientHandle,m_selectedBody,i,&info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
//b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
if (info.m_flags & JOINT_HAS_MOTORIZED_POWER)
{
@@ -959,7 +984,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
b3JointInfo info;
b3GetJointInfo(m_physicsClientHandle,bodyIndex,i,&info);
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
//b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
}
@@ -968,6 +993,18 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
{
b3Warning("Cannot get contact information");
}
if (statusType == CMD_VISUAL_SHAPE_INFO_FAILED)
{
b3Warning("Cannot get visual shape information");
}
if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3VisualShapeInformation shapeInfo;
b3GetVisualShapeInformation(m_physicsClientHandle, &shapeInfo);
b3Printf("Num visual shapes: %d", shapeInfo.m_numVisualShapes);
}
if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
{
b3ContactInformation contactPointData;