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PyBullet: add planar reflection example,

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See examples/pybullet/examples/addPlanarReflection.py
This commit is contained in:
erwincoumans
2018-04-11 01:03:36 -07:00
parent 39edcf699c
commit ffc808784b
11 changed files with 155 additions and 15 deletions
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2
data/plane_transparent.mtl
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@@ -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

6
data/plane_transparent.obj
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@@ -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 1.000000 1.000000
vt 0.000000 1.000000
vt 15.000000 0.000000
vt 15.000000 15.000000
vt 0.000000 15.000000
vt 0.000000 0.000000
usemtl Material

2
data/plane_transparent.urdf
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@@ -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"/>

3
examples/CommonInterfaces/CommonRenderInterface.h
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@@ -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;

4
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -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);
}

61
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -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);
//renderSceneInternal(B3_USE_SHADOWMAP_RENDERMODE_REFLECTION);
glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT|GL_STENCIL_BUFFER_BIT);
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];
GLfloat textureModelViewMatrix[4][4];
//float textureProjectionMatrix[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);

4
examples/OpenGLWindow/GLInstancingRenderer.h
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@@ -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);

1
examples/SharedMemory/SharedMemoryPublic.h
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@@ -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,
};

75
examples/pybullet/examples/addPlanarReflection.py Normal file
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@@ -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

6
examples/pybullet/examples/createVisualShape.py
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@@ -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
rangey = 32
rangex = 5
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

2
examples/pybullet/pybullet.c
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@@ -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);