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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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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)
{