169 lines
6.2 KiB
Python
169 lines
6.2 KiB
Python
import pybullet as p
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import time
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import math
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def getRayFromTo(mouseX,mouseY):
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width, height, viewMat, projMat, cameraUp, camForward, horizon,vertical, _,_,dist, camTarget = p.getDebugVisualizerCamera()
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camPos = [camTarget[0] - dist*camForward[0],camTarget[1] - dist*camForward[1],camTarget[2] - dist*camForward[2]]
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farPlane = 10000
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rayForward = [(camTarget[0]-camPos[0]),(camTarget[1]-camPos[1]),(camTarget[2]-camPos[2])]
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invLen = farPlane*1./(math.sqrt(rayForward[0]*rayForward[0]+rayForward[1]*rayForward[1]+rayForward[2]*rayForward[2]))
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rayForward = [invLen*rayForward[0],invLen*rayForward[1],invLen*rayForward[2]]
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rayFrom = camPos
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oneOverWidth = float(1)/float(width)
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oneOverHeight = float(1)/float(height)
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dHor = [horizon[0] * oneOverWidth,horizon[1] * oneOverWidth,horizon[2] * oneOverWidth]
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dVer = [vertical[0] * oneOverHeight,vertical[1] * oneOverHeight,vertical[2] * oneOverHeight]
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rayToCenter=[rayFrom[0]+rayForward[0],rayFrom[1]+rayForward[1],rayFrom[2]+rayForward[2]]
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rayTo = [rayFrom[0]+rayForward[0] - 0.5 * horizon[0] + 0.5 * vertical[0]+float(mouseX)*dHor[0]-float(mouseY)*dVer[0],
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rayFrom[1]+rayForward[1] - 0.5 * horizon[1] + 0.5 * vertical[1]+float(mouseX)*dHor[1]-float(mouseY)*dVer[1],
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rayFrom[2]+rayForward[2] - 0.5 * horizon[2] + 0.5 * vertical[2]+float(mouseX)*dHor[2]-float(mouseY)*dVer[2]]
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return rayFrom,rayTo
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cid = p.connect(p.SHARED_MEMORY)
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if (cid<0):
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p.connect(p.GUI)
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p.setPhysicsEngineParameter(numSolverIterations=10)
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p.setTimeStep(1./120.)
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logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
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#useMaximalCoordinates is much faster then the default reduced coordinates (Featherstone)
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p.loadURDF("plane100.urdf", useMaximalCoordinates=True)
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#disable rendering during creation.
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
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p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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#disable tinyrenderer, software (CPU) renderer, we don't use it here
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p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
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shift = [0,-0.02,0]
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meshScale=[0.1,0.1,0.1]
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vertices=[
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[-1.000000,-1.000000,1.000000],
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[1.000000,-1.000000,1.000000],
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[1.000000,1.000000,1.000000],
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[-1.000000,1.000000,1.000000],
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[-1.000000,-1.000000,-1.000000],
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[1.000000,-1.000000,-1.000000],
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[1.000000,1.000000,-1.000000],
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[-1.000000,1.000000,-1.000000],
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[-1.000000,-1.000000,-1.000000],
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[-1.000000,1.000000,-1.000000],
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[-1.000000,1.000000,1.000000],
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[-1.000000,-1.000000,1.000000],
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[1.000000,-1.000000,-1.000000],
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[1.000000,1.000000,-1.000000],
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[1.000000,1.000000,1.000000],
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[1.000000,-1.000000,1.000000],
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[-1.000000,-1.000000,-1.000000],
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[-1.000000,-1.000000,1.000000],
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[1.000000,-1.000000,1.000000],
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[1.000000,-1.000000,-1.000000],
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[-1.000000,1.000000,-1.000000],
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[-1.000000,1.000000,1.000000],
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[1.000000,1.000000,1.000000],
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[1.000000,1.000000,-1.000000]
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]
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normals=[
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[0.000000,0.000000,1.000000],
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[0.000000,0.000000,1.000000],
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[0.000000,0.000000,1.000000],
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[0.000000,0.000000,1.000000],
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[0.000000,0.000000,-1.000000],
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[0.000000,0.000000,-1.000000],
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[0.000000,0.000000,-1.000000],
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[0.000000,0.000000,-1.000000],
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[-1.000000,0.000000,0.000000],
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[-1.000000,0.000000,0.000000],
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[-1.000000,0.000000,0.000000],
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[-1.000000,0.000000,0.000000],
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[1.000000,0.000000,0.000000],
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[1.000000,0.000000,0.000000],
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[1.000000,0.000000,0.000000],
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[1.000000,0.000000,0.000000],
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[0.000000,-1.000000,0.000000],
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[0.000000,-1.000000,0.000000],
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[0.000000,-1.000000,0.000000],
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[0.000000,-1.000000,0.000000],
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[0.000000,1.000000,0.000000],
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[0.000000,1.000000,0.000000],
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[0.000000,1.000000,0.000000],
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[0.000000,1.000000,0.000000]
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]
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uvs=[
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[0.750000,0.250000],
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[1.000000,0.250000],
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[1.000000,0.000000],
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[0.750000,0.000000],
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[0.500000,0.250000],
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[0.250000,0.250000],
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[0.250000,0.000000],
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[0.500000,0.000000],
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[0.500000,0.000000],
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[0.750000,0.000000],
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[0.750000,0.250000],
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[0.500000,0.250000],
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[0.250000,0.500000],
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[0.250000,0.250000],
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[0.000000,0.250000],
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[0.000000,0.500000],
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[0.250000,0.500000],
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[0.250000,0.250000],
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[0.500000,0.250000],
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[0.500000,0.500000],
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[0.000000,0.000000],
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[0.000000,0.250000],
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[0.250000,0.250000],
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[0.250000,0.000000]
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]
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indices=[ 0, 1, 2, 0, 2, 3, #//ground face
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6, 5, 4, 7, 6, 4, #//top face
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10, 9, 8, 11, 10, 8,
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12, 13, 14, 12, 14, 15,
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18, 17, 16, 19, 18, 16,
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20, 21, 22, 20, 22, 23]
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#the visual shape and collision shape can be re-used by all createMultiBody instances (instancing)
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visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, vertices=vertices, indices=indices, uvs=uvs, normals=normals)
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#visualShapeId = p.createVisualShape(shapeType=p.GEOM_BOX,rgbaColor=[1,1,1,1], halfExtents=[0.5,0.5,0.5],specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=[1,1,1], vertices=vertices, indices=indices)
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#visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=shift, meshScale=meshScale, fileName="duck.obj")
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collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, vertices=vertices, collisionFramePosition=shift,meshScale=meshScale)
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texUid = p.loadTexture("tex256.png")
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rangex = 1
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rangey = 1
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for i in range (rangex):
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for j in range (rangey ):
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bodyUid = 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)
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p.changeVisualShape(bodyUid,-1, textureUniqueId = texUid)
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
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p.stopStateLogging(logId)
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p.setGravity(0,0,-10)
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p.setRealTimeSimulation(1)
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colors = [[1,0,0,1],[0,1,0,1],[0,0,1,1],[1,1,1,1]]
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currentColor = 0
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while (1):
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p.getCameraImage(320,200)
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mouseEvents = p.getMouseEvents()
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for e in mouseEvents:
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if ((e[0] == 2) and (e[3]==0) and (e[4]& p.KEY_WAS_TRIGGERED)):
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mouseX = e[1]
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mouseY = e[2]
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rayFrom,rayTo=getRayFromTo(mouseX,mouseY)
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rayInfo = p.rayTest(rayFrom,rayTo)
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#p.addUserDebugLine(rayFrom,rayTo,[1,0,0],3)
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for l in range(len(rayInfo)):
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hit = rayInfo[l]
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objectUid = hit[0]
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if (objectUid>=1):
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#p.removeBody(objectUid)
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p.changeVisualShape(objectUid,-1,rgbaColor=colors[currentColor])
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currentColor+=1
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if (currentColor>=len(colors)):
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currentColor=0
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