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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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28
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1429,6 +1429,18 @@ B3_SHARED_API void b3GetMeshDataSetCollisionShapeIndex(b3SharedMemoryCommandHand
}
}
B3_SHARED_API void b3GetMeshDataSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_MESH_DATA);
if (command->m_type == CMD_REQUEST_MESH_DATA)
{
command->m_updateFlags = B3_MESH_DATA_FLAGS;
command->m_requestMeshDataArgs.m_flags = flags;
}
}
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
@@ -4933,6 +4945,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape2(b3PhysicsClie
command->m_updateVisualShapeDataArguments.m_jointIndex = jointIndex;
command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
command->m_updateVisualShapeDataArguments.m_textureUniqueId = -2;
command->m_updateVisualShapeDataArguments.m_flags = 0;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle)command;
}
@@ -4969,6 +4982,21 @@ B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle comm
}
}
B3_SHARED_API void b3UpdateVisualShapeFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_UPDATE_VISUAL_SHAPE);
if (command->m_type == CMD_UPDATE_VISUAL_SHAPE)
{
command->m_updateVisualShapeDataArguments.m_flags = flags;
command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_FLAGS;
}
}
B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;