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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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44
examples/pybullet/examples/heightfield.py
View File

@@ -7,13 +7,39 @@ p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
textureId = -1
useDeepLocoCSV = False
if useDeepLocoCSV:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)#Image8x4.png")#wm_height_out.png")
useProgrammatic = 0
useTerrainFromPNG = 1
useDeepLocoCSV = 2
heightfieldSource = useProgrammatic
import random
random.seed(10)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
heightPerturbationRange = 0.05
if heightfieldSource==useProgrammatic:
numHeightfieldRows = 256
numHeightfieldColumns = 256
heightfieldData = [0]*numHeightfieldRows*numHeightfieldColumns
for j in range (int(numHeightfieldColumns/2)):
for i in range (int(numHeightfieldRows/2) ):
height = random.uniform(0,heightPerturbationRange)
heightfieldData[2*i+2*j*numHeightfieldRows]=height
heightfieldData[2*i+1+2*j*numHeightfieldRows]=height
heightfieldData[2*i+(2*j+1)*numHeightfieldRows]=height
heightfieldData[2*i+1+(2*j+1)*numHeightfieldRows]=height
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.05,.05,1], heightfieldTextureScaling=(numHeightfieldRows-1)/2, heightfieldData=heightfieldData, numHeightfieldRows=numHeightfieldRows, numHeightfieldColumns=numHeightfieldColumns, )
terrain = p.createMultiBody(0, terrainShape)
p.resetBasePositionAndOrientation(terrain,[-8,0,-2], [0,0,0,1])
else:
p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
if heightfieldSource==useDeepLocoCSV:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.5,.5,2.5],fileName = "heightmaps/ground0.txt", heightfieldTextureScaling=128)
terrain = p.createMultiBody(0, terrainShape)
p.resetBasePositionAndOrientation(terrain,[0,0,0], [0,0,0,1])
if heightfieldSource==useTerrainFromPNG:
terrainShape = p.createCollisionShape(shapeType = p.GEOM_HEIGHTFIELD, meshScale=[.1,.1,24],fileName = "heightmaps/wm_height_out.png")
textureId = p.loadTexture("heightmaps/gimp_overlay_out.png")
terrain = p.createMultiBody(0, terrainShape)
@@ -78,6 +104,7 @@ for i in range(3):
for joint in range(p.getNumJoints(sphereUid)):
p.setJointMotorControl2(sphereUid, joint, p.VELOCITY_CONTROL, targetVelocity=1, force=10)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.setGravity(0, 0, -10)
p.setRealTimeSimulation(1)
@@ -85,9 +112,10 @@ p.getNumJoints(sphereUid)
for i in range(p.getNumJoints(sphereUid)):
p.getJointInfo(sphereUid, i)
while (1):
keys = p.getKeyboardEvents()
print(keys)
while (p.isConnected()):
#keys = p.getKeyboardEvents()
#print(keys)
#getCameraImage note: software/TinyRenderer doesn't render/support heightfields!
#p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
time.sleep(0.01)

79
examples/pybullet/pybullet.c
View File

@@ -1,3 +1,4 @@
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
#include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
@@ -336,18 +337,19 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
struct b3ForwardDynamicsAnalyticsArgs analyticsData;
int numIslands = 0;
int i;
PyObject* val = 0;
PyObject* val = 0;
PyObject* pyAnalyticsData;
numIslands = b3GetStatusForwardDynamicsAnalyticsData(statusHandle, &analyticsData);
PyObject* pyAnalyticsData = PyTuple_New(numIslands);
pyAnalyticsData = PyTuple_New(numIslands);
for (i=0;i<numIslands;i++)
{
val = Py_BuildValue("{s:i, s:i, s:i, s:d}",
"islandId", analyticsData.m_islandData[i].m_islandId,
"numBodies", analyticsData.m_islandData[i].m_numBodies,
"numIterationsUsed", analyticsData.m_islandData[i].m_numIterationsUsed,
"remainingResidual", analyticsData.m_islandData[i].m_remainingLeastSquaresResidual);
val = Py_BuildValue("{s:i, s:i, s:i, s:d}",
"islandId", analyticsData.m_islandData[i].m_islandId,
"numBodies", analyticsData.m_islandData[i].m_numBodies,
"numIterationsUsed", analyticsData.m_islandData[i].m_numIterationsUsed,
"remainingResidual", analyticsData.m_islandData[i].m_remainingLeastSquaresResidual);
PyTuple_SetItem(pyAnalyticsData, i, val);
}
@@ -7960,6 +7962,7 @@ static int extractIndices(PyObject* indicesObj, int* indices, int maxNumIndices)
return numIndicesOut;
}
static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@@ -7981,10 +7984,29 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
PyObject* halfExtentsObj = 0;
PyObject* verticesObj = 0;
PyObject* indicesObj = 0;
PyObject* heightfieldDataObj = 0;
int numHeightfieldRows = -1;
int numHeightfieldColumns = -1;
static char* kwlist[] = {"shapeType", "radius", "halfExtents", "height", "fileName", "meshScale", "planeNormal", "flags", "collisionFramePosition", "collisionFrameOrientation", "vertices", "indices", "heightfieldTextureScaling", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdi", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &physicsClientId))
static char* kwlist[] = {"shapeType",
"radius",
"halfExtents",
"height",
"fileName",
"meshScale",
"planeNormal",
"flags",
"collisionFramePosition",
"collisionFrameOrientation",
"vertices",
"indices",
"heightfieldTextureScaling",
"heightfieldData",
"numHeightfieldRows",
"numHeightfieldColumns",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|dOdsOOiOOOOdOiii", kwlist,
&shapeType, &radius, &halfExtentsObj, &height, &fileName, &meshScaleObj, &planeNormalObj, &flags, &collisionFramePositionObj, &collisionFrameOrientationObj, &verticesObj, &indicesObj, &heightfieldTextureScaling, &heightfieldDataObj, &numHeightfieldRows, &numHeightfieldColumns, &physicsClientId))
{
return NULL;
}
@@ -8029,6 +8051,43 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
shapeIndex = b3CreateCollisionShapeAddHeightfield(commandHandle, fileName, meshScale, heightfieldTextureScaling);
}
if (shapeType == GEOM_HEIGHTFIELD && fileName==0 && heightfieldDataObj && numHeightfieldColumns>0 && numHeightfieldRows > 0)
{
if (meshScaleObj)
{
pybullet_internalSetVectord(meshScaleObj, meshScale);
}
PyObject* seqPoints = PySequence_Fast(heightfieldDataObj, "expected a sequence");
int numHeightfieldPoints = PySequence_Size(heightfieldDataObj);
if (numHeightfieldPoints != numHeightfieldColumns*numHeightfieldRows)
{
PyErr_SetString(SpamError, "Size of heightfieldData doesn't match numHeightfieldColumns*numHeightfieldRows");
return NULL;
}
PyObject* item;
int i;
float* pointBuffer = (float*)malloc(numHeightfieldPoints*sizeof(float));
if (PyList_Check(seqPoints))
{
for (i = 0; i < numHeightfieldPoints; i++)
{
item = PyList_GET_ITEM(seqPoints, i);
pointBuffer[i] = (float)PyFloat_AsDouble(item);
}
}
else
{
for (i = 0; i < numHeightfieldPoints; i++)
{
item = PyTuple_GET_ITEM(seqPoints, i);
pointBuffer[i] = (float)PyFloat_AsDouble(item);
}
}
shapeIndex = b3CreateCollisionShapeAddHeightfield2(sm, commandHandle, meshScale, heightfieldTextureScaling, pointBuffer, numHeightfieldRows, numHeightfieldColumns);
free(pointBuffer);
if (seqPoints)
Py_DECREF(seqPoints);
}
if (shapeType == GEOM_MESH && fileName)
{
pybullet_internalSetVectord(meshScaleObj, meshScale);