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* add textured models of ball.vtk (obj/mtl) and torus (obj/mtl) and cloth.

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1) allow to render deformables in 'getCameraImage', for TinyRenderer (tested OK) and EGL (untested)
2) allow to have textures for deformables. See deformable_ball.py, deformable_anchor.py and deformable_torus.py for examples
3) deformables: allow to request simulation mesh data (even if there is a render mesh) See deformable_anchor.py for an example usage
   data = p.getMeshData(clothId, -1, flags=p.MESH_DATA_SIMULATION_MESH)
4) fix deletion of deformables, thanks to Fychuyan, https://github.com/bulletphysics/bullet3/pull/3048
5) allow to enable and disable double-sided rendering, p.changeVisualShape(objectUid, linkIndex, flags=p.VISUAL_SHAPE_DOUBLE_SIDED)
6) fix GripperGraspExample, model not found
7) Fix deformable anchor not attaching to multibody with object unique id of 0
8) Fix issue with assignment of unique ids in TinyRenderer/EGL renderer (always use broadphase uid)
9) Avoid crash/issue of simulation with pinned vertices (mass 0) in btDeformableBackwardEulerObjective::applyExplicitForce
10) Store uv/normal in btSoftBody::RenderNode to allow textured meshes
11) (uncomment in btSoftBodyHelpers.cpp): dump vertices and indices in obj wavefront format, when loading a VTK file, for quicker creation of a (textured) surface mesh
12) allow interpolateRenderMesh also for old position-based soft bodies (not only the shiny new FEM deformables)
13) fix a few premake targets
14) update build_visual_studio_vr_pybullet_double_cmake.bat so it suits c:\python37 and installs locally
    for local install of Bullet, see also this example https://github.com/erwincoumans/hello_bullet_cmake
This commit is contained in:
Erwin Coumans
2020-09-12 01:03:04 -07:00
parent f3b67e5849
commit 1452cae641
50 changed files with 8329 additions and 293 deletions
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51
examples/ExampleBrowser/OpenGLGuiHelper.cpp
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@@ -313,6 +313,13 @@ void OpenGLGuiHelper::createCollisionObjectGraphicsObject(btCollisionObject* bod
btVector3 localScaling(1, 1, 1);
int graphicsInstanceId = m_data->m_glApp->m_renderer->registerGraphicsInstance(graphicsShapeId, startTransform.getOrigin(), startTransform.getRotation(), color, localScaling);
body->setUserIndex(graphicsInstanceId);
btSoftBody* sb = btSoftBody::upcast(body);
if (sb)
{
int graphicsInstanceId = body->getUserIndex();
changeInstanceFlags(graphicsInstanceId, B3_INSTANCE_DOUBLE_SIDED);
}
}
}
}
@@ -560,8 +567,7 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
computeSoftBodyVertices(collisionShape, gfxVertices, indices);
if (gfxVertices.size() && indices.size())
{
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES,
m_data->m_checkedTexture);
int shapeId = registerGraphicsShape(&gfxVertices[0].xyzw[0], gfxVertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES,m_data->m_checkedTexture);
b3Assert(shapeId >= 0);
collisionShape->setUserIndex(shapeId);
@@ -1051,10 +1057,33 @@ void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
btCollisionShape* collisionShape = colObj->getCollisionShape();
if (collisionShape->getShapeType() == SOFTBODY_SHAPE_PROXYTYPE && collisionShape->getUserIndex() >= 0)
{
const btSoftBody* psb = (const btSoftBody*)colObj;
btAlignedObjectArray<GLInstanceVertex> gfxVertices;
btAlignedObjectArray<int> indices;
computeSoftBodyVertices(collisionShape, gfxVertices, indices);
m_data->m_glApp->m_renderer->updateShape(collisionShape->getUserIndex(), &gfxVertices[0].xyzw[0]);
if (psb->m_renderNodes.size() > 0)
{
gfxVertices.resize(psb->m_renderNodes.size());
for (int i = 0; i < psb->m_renderNodes.size(); i++) // Foreach face
{
gfxVertices[i].xyzw[0] = psb->m_renderNodes[i].m_x[0];
gfxVertices[i].xyzw[1] = psb->m_renderNodes[i].m_x[1];
gfxVertices[i].xyzw[2] = psb->m_renderNodes[i].m_x[2];
gfxVertices[i].xyzw[3] = psb->m_renderNodes[i].m_x[3];
gfxVertices[i].uv[0] = psb->m_renderNodes[i].m_uv1[0];
gfxVertices[i].uv[1] = psb->m_renderNodes[i].m_uv1[1];
//gfxVertices[i].normal[0] = psb->m_renderNodes[i].
gfxVertices[i].normal[0] = psb->m_renderNodes[i].m_normal[0];
gfxVertices[i].normal[1] = psb->m_renderNodes[i].m_normal[1];
gfxVertices[i].normal[2] = psb->m_renderNodes[i].m_normal[2];
}
}
else
{
btAlignedObjectArray<int> indices;
computeSoftBodyVertices(collisionShape, gfxVertices, indices);
}
m_data->m_glApp->m_renderer->updateShape(collisionShape->getUserIndex(), &gfxVertices[0].xyzw[0], gfxVertices.size());
continue;
}
btVector3 pos = colObj->getWorldTransform().getOrigin();
@@ -1449,11 +1478,7 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
color.setValue(1, 1, 1, 1);
}
createCollisionObjectGraphicsObject(colObj, color);
if (sb)
{
int graphicsInstanceId = colObj->getUserIndex();
changeInstanceFlags(graphicsInstanceId, B3_INSTANCE_DOUBLE_SIDED);
}
}
}
@@ -1511,14 +1536,14 @@ void OpenGLGuiHelper::computeSoftBodyVertices(btCollisionShape* collisionShape,
}
for (int j = 0; j < 2; j++)
{
gfxVertices[currentIndex].uv[j] = 0.5; //we don't have UV info...
gfxVertices[currentIndex].uv[j] = psb->m_faces[i].m_n[k]->m_x[j];
}
indices.push_back(currentIndex);
}
}
}
void OpenGLGuiHelper::updateShape(int shapeIndex, float* vertices)
void OpenGLGuiHelper::updateShape(int shapeIndex, float* vertices, int numVertices)
{
m_data->m_glApp->m_renderer->updateShape(shapeIndex, vertices);
m_data->m_glApp->m_renderer->updateShape(shapeIndex, vertices, numVertices);
}