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pybullet: allow programmatic creation of heightfield. See https://github.com/erwincoumans/bullet3/tree/master/examples/pybullet/examples/heightfield.py

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premake4: allow to build example browser without C++11, re-enable stable PD control plugin using --enable_stable_pd=True
This commit is contained in:
Erwin Coumans
2019-08-11 13:59:24 -07:00
parent f5ae8bd1af
commit f9b232b153
10 changed files with 192 additions and 34 deletions
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33
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1338,6 +1338,39 @@ B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHand
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = -1;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = -1;
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
}
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
if ((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE))
{
int shapeIndex = command->m_createUserShapeArgs.m_numUserShapes;
if (shapeIndex < MAX_COMPOUND_COLLISION_SHAPES)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_type = GEOM_HEIGHTFIELD;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_collisionFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_visualFlags = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_hasChildTransform = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName[0] = 0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[0] = meshScale[0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[1] = meshScale[1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshScale[2] = meshScale[2];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_heightfieldTextureScaling = textureScaling;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldRows = numHeightfieldRows;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numHeightfieldColumns = numHeightfieldColumns;
cl->uploadBulletFileToSharedMemory((const char*)heightfieldData, numHeightfieldRows*numHeightfieldColumns* sizeof(float));
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -490,6 +490,7 @@ extern "C"
B3_SHARED_API int b3CreateCollisionShapeAddCapsule(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
B3_SHARED_API int b3CreateCollisionShapeAddCylinder(b3SharedMemoryCommandHandle commandHandle, double radius, double height);
B3_SHARED_API int b3CreateCollisionShapeAddHeightfield(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/], double textureScaling);
B3_SHARED_API int b3CreateCollisionShapeAddHeightfield2(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], double textureScaling, float* heightfieldData, int numHeightfieldRows, int numHeightfieldColumns);
B3_SHARED_API int b3CreateCollisionShapeAddPlane(b3SharedMemoryCommandHandle commandHandle, const double planeNormal[/*3*/], double planeConstant);
B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle commandHandle, const char* fileName, const double meshScale[/*3*/]);

28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1610,7 +1610,7 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<std::string*> m_strings;
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
btAlignedObjectArray<unsigned char*> m_heightfieldDatas;
btAlignedObjectArray<const unsigned char*> m_heightfieldDatas;
btAlignedObjectArray<int> m_allocatedTextures;
btHashMap<btHashPtr, UrdfCollision> m_bulletCollisionShape2UrdfCollision;
btAlignedObjectArray<btStridingMeshInterface*> m_meshInterfaces;
@@ -4394,7 +4394,7 @@ static unsigned char* MyGetRawHeightfieldData(CommonFileIOInterface& fileIO, PHY
for (int j = 0; j < height; ++j)
{
float z = allValues[i + width*j];
double z = allValues[i + width*j];
//convertFromFloat(p, z, type);
btScalar * pf = (btScalar *)p;
*pf = z;
@@ -4545,7 +4545,29 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
btScalar minHeight, maxHeight;
PHY_ScalarType scalarType = PHY_FLOAT;
CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
unsigned char* heightfieldData = MyGetRawHeightfieldData(*fileIO, scalarType, clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshFileName, width, height, minHeight, maxHeight);
const unsigned char* heightfieldData = 0;
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_numHeightfieldColumns > 0 &&
clientCmd.m_createUserShapeArgs.m_shapes[i].m_numHeightfieldRows > 0)
{
width = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numHeightfieldRows;
height = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numHeightfieldColumns;
float* heightfieldDataSrc = (float*)bufferServerToClient;
heightfieldData = new unsigned char[width*height * sizeof(btScalar)];
btScalar* datafl = (btScalar*)heightfieldData;
minHeight = heightfieldDataSrc[0];
maxHeight = heightfieldDataSrc[0];
for (int i = 0; i < width*height; i++)
{
datafl[i] = heightfieldDataSrc[i];
minHeight = btMin(minHeight, (btScalar)datafl[i]);
maxHeight = btMax(maxHeight, (btScalar)datafl[i]);
}
}
else
{
heightfieldData = MyGetRawHeightfieldData(*fileIO, scalarType, clientCmd.m_createUserShapeArgs.m_shapes[i].m_meshFileName, width, height, minHeight, maxHeight);
}
if (heightfieldData)
{

5
examples/SharedMemory/SharedMemoryBlock.h
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@@ -17,10 +17,7 @@ struct SharedMemoryBlock
int m_numServerCommands;
int m_numProcessedServerCommands;
//m_bulletStreamDataClientToServer is a way for the client to create collision shapes, rigid bodies and constraints
//the Bullet data structures are more general purpose than the capabilities of a URDF file.
char m_bulletStreamDataClientToServer[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];
//m_bulletStreamDataServerToClient is used to send (debug) data from server to client, for
//example to provide all details of a multibody including joint/link names, after loading a URDF file.
char m_bulletStreamDataServerToClientRefactor[SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE];

4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -24,7 +24,7 @@ typedef unsigned long long int smUint64_t;
#endif
#ifdef __APPLE__
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512 * 1024)
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (1024 * 1024)
#else
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (8 * 1024 * 1024)
#endif
@@ -961,6 +961,8 @@ struct b3CreateUserShapeData
int m_numUVs;
int m_numNormals;
double m_heightfieldTextureScaling;
int m_numHeightfieldRows;
int m_numHeightfieldColumns;
double m_rgbaColor[4];
double m_specularColor[3];
};

3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -7,7 +7,8 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 201908050
#define SHARED_MEMORY_MAGIC_NUMBER 201908110
//#define SHARED_MEMORY_MAGIC_NUMBER 201908050
//#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
//#define SHARED_MEMORY_MAGIC_NUMBER 201904030
//#define SHARED_MEMORY_MAGIC_NUMBER 201902120