PyBullet: add planar reflection example,

See examples/pybullet/examples/addPlanarReflection.py

data/plane_transparent.mtl

@@ -9,6 +9,6 @@ newmtl Material
   Kd 0.5880 0.5880 0.5880
   Ks 0.0000 0.0000 0.0000
   Ke 0.0000 0.0000 0.0000
-  map_Kd tex4x4.png
+  map_Kd checker_blue.png
   
   

data/plane_transparent.obj

@@ -7,9 +7,9 @@ v 15.000000 15.000000 0.000000
 v -15.000000 15.000000 0.000000
 v -15.000000  -15.000000 0.000000
 
-vt 1.000000 0.000000
+vt 15.000000 0.000000
-vt 1.000000 1.000000
+vt 15.000000 15.000000
-vt 0.000000 1.000000
+vt 0.000000 15.000000
 vt 0.000000 0.000000
 
 usemtl Material

data/plane_transparent.urdf

@@ -12,7 +12,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-				<mesh filename="plane.obj" scale="1 1 1"/>
+				<mesh filename="plane_transparent.obj" scale="1 1 1"/>
       </geometry>
        <material name="white">
         <color rgba="1 1 1 .7"/>

examples/CommonInterfaces/CommonRenderInterface.h

@@ -16,6 +16,7 @@ enum
 	B3_CREATE_SHADOWMAP_RENDERMODE,
 	B3_USE_SHADOWMAP_RENDERMODE,
 	B3_USE_SHADOWMAP_RENDERMODE_REFLECTION,
+	B3_USE_SHADOWMAP_RENDERMODE_REFLECTION_PLANE,
 	B3_USE_PROJECTIVE_TEXTURE_RENDERMODE,
 };
 
@@ -77,6 +78,8 @@ struct CommonRenderInterface
 	virtual void replaceTexture(int shapeIndex, int textureIndex){};
 	virtual void removeTexture(int textureIndex) = 0;
 
+	virtual void setPlaneReflectionShapeIndex(int index) {}
+
 	virtual int getShapeIndexFromInstance(int srcIndex) {return -1;}
 
 	virtual bool readSingleInstanceTransformToCPU(float* position, float* orientation, int srcIndex)=0;

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -1026,6 +1026,10 @@ void	OpenGLGuiHelper::setVisualizerFlagCallback(VisualizerFlagCallback callback)
 
 void OpenGLGuiHelper::setVisualizerFlag(int flag, int enable)
 {
+	if (getRenderInterface() && flag==16)//COV_ENABLE_PLANAR_REFLECTION
+	{
+		getRenderInterface()->setPlaneReflectionShapeIndex(enable);
+	}
 	if (m_data->m_visualizerFlagCallback)
 		(m_data->m_visualizerFlagCallback)(flag,enable);
 }

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -361,7 +361,8 @@ GLInstancingRenderer::GLInstancingRenderer(int maxNumObjectCapacity, int maxShap
 	m_textureinitialized(false),
 	m_screenWidth(0),
 	m_screenHeight(0),
-	m_upAxis(1)
+	m_upAxis(1),
+	m_planeReflectionShapeIndex(-1)
 {
 
 	m_data = new InternalDataRenderer;
@@ -1597,13 +1598,44 @@ void GLInstancingRenderer::renderScene()
 	{
 
 		renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
-		//glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT);
+		glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
-		//renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION);
+
+		if (m_planeReflectionShapeIndex>=0)
+		{
+			 /* Don't update color or depth. */
+			glDisable(GL_DEPTH_TEST);
+			glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
+		
+			/* Draw 1 into the stencil buffer. */
+			glEnable(GL_STENCIL_TEST);
+			glStencilOp(GL_REPLACE, GL_REPLACE, GL_REPLACE);
+			glStencilFunc(GL_ALWAYS, 1, 0xffffffff);
+
+			/* Now render floor; floor pixels just get their stencil set to 1. */
+			renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION_PLANE);
+
+			/* Re-enable update of color and depth. */ 
+			glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
+			glEnable(GL_DEPTH_TEST);
+
+			/* Now, only render where stencil is set to 1. */
+			glStencilFunc(GL_EQUAL, 1, 0xffffffff);  /* draw if ==1 */
+			glStencilOp(GL_KEEP, GL_KEEP, GL_KEEP);
+		
+			//draw the reflection objects
+			renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION);
+		
+			glDisable(GL_STENCIL_TEST);
+		}
+		
 		renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE);
 
+		
+
 	}
 	else if (m_data->m_useProjectiveTexture)
 	{
+		
 		renderSceneInternal(B3_USE_PROJECTIVE_TEXTURE_RENDERMODE);
 	}
 	else
@@ -2040,6 +2072,13 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 {
 	int renderMode=orgRenderMode;
 	bool reflectionPass = false;
+	bool reflectionPlanePass = false;
+
+	if (orgRenderMode==B3_USE_SHADOWMAP_RENDERMODE_REFLECTION_PLANE)
+	{
+		reflectionPlanePass = true;
+		renderMode = B3_USE_SHADOWMAP_RENDERMODE;
+	}
 	if (orgRenderMode==B3_USE_SHADOWMAP_RENDERMODE_REFLECTION)
 	{
 		reflectionPass = true;
@@ -2085,8 +2124,8 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 	//GLfloat depthModelViewMatrix2[4][4];
 	
 	// For projective texture mapping
-	float textureProjectionMatrix[4][4];
+	//float textureProjectionMatrix[4][4];
-	GLfloat textureModelViewMatrix[4][4];
+	//GLfloat textureModelViewMatrix[4][4];
 
 	// Compute the MVP matrix from the light's point of view
 	if (renderMode==B3_CREATE_SHADOWMAP_RENDERMODE)
@@ -2254,6 +2293,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 		for (int obj=0;obj<m_graphicsInstances.size();obj++)
 		{
 			b3GraphicsInstance* gfxObj = m_graphicsInstances[obj];
+			
 			if (gfxObj->m_numGraphicsInstances)
 			{
 				SortableTransparentInstance inst;
@@ -2303,6 +2343,10 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 			
 			int shapeIndex = transparentInstances[i].m_shapeIndex;
 
+			//during a reflectionPlanePass, only draw the plane, nothing else
+			if ((shapeIndex!=m_planeReflectionShapeIndex) && reflectionPlanePass)
+				continue;
+
 			b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
 
 			//only draw stuff (opaque/transparent) if it is the right pass
@@ -2503,6 +2547,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 								float MVP[16];
 								if (reflectionPass)
 								{
+									//todo: create an API to select this reflection matrix, to allow
+									//reflection planes different from Z-axis up through (0,0,0)
 									float tmp[16];
 									float reflectionMatrix[16] = {1,0,0,0,
 										0,1,0,0,
@@ -2669,6 +2715,11 @@ void GLInstancingRenderer::CleanupShaders()
 {
 }
 
+void GLInstancingRenderer::setPlaneReflectionShapeIndex(int index)
+{
+	m_planeReflectionShapeIndex = index;
+}
+
 void GLInstancingRenderer::enableShadowMap()
 {
 	glActiveTexture(GL_TEXTURE0);

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -40,6 +40,8 @@ class GLInstancingRenderer : public CommonRenderInterface
 	
 	int m_upAxis;
 
+	int m_planeReflectionShapeIndex;
+    
     
 	int registerGraphicsInstanceInternal(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
 	void rebuildGraphicsInstances();
@@ -152,6 +154,8 @@ public:
 	
 	virtual void enableShadowMap();
 
+	virtual void setPlaneReflectionShapeIndex(int index);
+    
 	virtual void clearZBuffer();
 
 	virtual void setRenderFrameBuffer(unsigned int renderFrameBuffer);

examples/SharedMemory/SharedMemoryPublic.h

@@ -648,6 +648,7 @@ enum b3ConfigureDebugVisualizerEnum
 	COV_ENABLE_RGB_BUFFER_PREVIEW,
 	COV_ENABLE_DEPTH_BUFFER_PREVIEW,
 	COV_ENABLE_SEGMENTATION_MARK_PREVIEW,
+	COV_ENABLE_PLANAR_REFLECTION,
 	
 };
 

examples/pybullet/examples/addPlanarReflection.py

@@ -0,0 +1,75 @@
+import pybullet as p
+import time
+import math
+
+def getRayFromTo(mouseX,mouseY):
+	width, height, viewMat, projMat, cameraUp, camForward, horizon,vertical, _,_,dist, camTarget = p.getDebugVisualizerCamera()
+	camPos = [camTarget[0] - dist*camForward[0],camTarget[1] - dist*camForward[1],camTarget[2] - dist*camForward[2]]
+	farPlane = 10000
+	rayForward = [(camTarget[0]-camPos[0]),(camTarget[1]-camPos[1]),(camTarget[2]-camPos[2])]
+	invLen = farPlane*1./(math.sqrt(rayForward[0]*rayForward[0]+rayForward[1]*rayForward[1]+rayForward[2]*rayForward[2]))
+	rayForward = [invLen*rayForward[0],invLen*rayForward[1],invLen*rayForward[2]]
+	rayFrom = camPos
+	oneOverWidth = float(1)/float(width)
+	oneOverHeight = float(1)/float(height)
+	dHor = [horizon[0] * oneOverWidth,horizon[1] * oneOverWidth,horizon[2] * oneOverWidth]
+	dVer = [vertical[0] * oneOverHeight,vertical[1] * oneOverHeight,vertical[2] * oneOverHeight]
+	rayToCenter=[rayFrom[0]+rayForward[0],rayFrom[1]+rayForward[1],rayFrom[2]+rayForward[2]]
+	rayTo = [rayFrom[0]+rayForward[0]  - 0.5 * horizon[0] + 0.5 * vertical[0]+float(mouseX)*dHor[0]-float(mouseY)*dVer[0],
+					rayFrom[1]+rayForward[1]  - 0.5 * horizon[1] + 0.5 * vertical[1]+float(mouseX)*dHor[1]-float(mouseY)*dVer[1],
+					rayFrom[2]+rayForward[2]  - 0.5 * horizon[2] + 0.5 * vertical[2]+float(mouseX)*dHor[2]-float(mouseY)*dVer[2]]
+	return rayFrom,rayTo
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
+p.setPhysicsEngineParameter(numSolverIterations=10)
+p.setTimeStep(1./120.)
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
+#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
+p.loadURDF("plane_transparent.urdf", useMaximalCoordinates=True)
+#disable rendering during creation.
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
+
+p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+#disable tinyrenderer, software (CPU) renderer, we don't use it here
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+
+shift = [0,-0.02,0]
+meshScale=[0.1,0.1,0.1]
+#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
+visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="duck.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale)
+collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale)
+
+rangex = 3
+rangey = 3
+for i in range (rangex):
+	for j in range (rangey ):
+		p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [((-rangex/2)+i)*meshScale[0]*2,(-rangey/2+j)*meshScale[1]*2,1], useMaximalCoordinates=True)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+p.stopStateLogging(logId)
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(1)
+
+colors = [[1,0,0,1],[0,1,0,1],[0,0,1,1],[1,1,1,1]]
+currentColor = 0
+
+while (1):
+	mouseEvents = p.getMouseEvents()
+	for e in mouseEvents:
+		if ((e[0] == 2) and (e[3]==0) and (e[4]& p.KEY_WAS_TRIGGERED)):
+			mouseX = e[1]
+			mouseY = e[2]
+			rayFrom,rayTo=getRayFromTo(mouseX,mouseY)
+			rayInfo = p.rayTest(rayFrom,rayTo)
+			#p.addUserDebugLine(rayFrom,rayTo,[1,0,0],3)
+			for l in range(len(rayInfo)):
+				hit = rayInfo[l]
+				objectUid = hit[0]
+				if (objectUid>=1):
+					#p.removeBody(objectUid)
+					p.changeVisualShape(objectUid,-1,rgbaColor=colors[currentColor])
+					currentColor+=1
+					if (currentColor>=len(colors)):
+						currentColor=0

examples/pybullet/examples/createVisualShape.py

@@ -40,8 +40,8 @@ meshScale=[0.1,0.1,0.1]
 visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="duck.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale)
 collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="duck_vhacd.obj", collisionFramePosition=shift,meshScale=meshScale)
 
-rangex = 32
+rangex = 5
-rangey = 32
+rangey = 5
 for i in range (rangex):
 	for j in range (rangey ):
 		p.createMultiBody(baseMass=1,baseInertialFramePosition=[0,0,0],baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [((-rangex/2)+i)*meshScale[0]*2,(-rangey/2+j)*meshScale[1]*2,1], useMaximalCoordinates=True)
@@ -65,7 +65,7 @@ while (1):
 			for l in range(len(rayInfo)):
 				hit = rayInfo[l]
 				objectUid = hit[0]
-				if (objectUid>=0):
+				if (objectUid>=1):
 					#p.removeBody(objectUid)
 					p.changeVisualShape(objectUid,-1,rgbaColor=colors[currentColor])
 					currentColor+=1

examples/pybullet/pybullet.c

@@ -9152,6 +9152,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "COV_ENABLE_RGB_BUFFER_PREVIEW", COV_ENABLE_RGB_BUFFER_PREVIEW);
 	PyModule_AddIntConstant(m, "COV_ENABLE_DEPTH_BUFFER_PREVIEW", COV_ENABLE_DEPTH_BUFFER_PREVIEW);
 	PyModule_AddIntConstant(m, "COV_ENABLE_SEGMENTATION_MARK_PREVIEW", COV_ENABLE_SEGMENTATION_MARK_PREVIEW);
+	PyModule_AddIntConstant(m, "COV_ENABLE_PLANAR_REFLECTION", COV_ENABLE_PLANAR_REFLECTION);
+
 
 	PyModule_AddIntConstant(m, "ER_TINY_RENDERER", ER_TINY_RENDERER);
 	PyModule_AddIntConstant(m, "ER_BULLET_HARDWARE_OPENGL", ER_BULLET_HARDWARE_OPENGL);