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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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23
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -132,6 +132,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
eGUIHelperChangeGraphicsInstanceScaling,
eGUIUserDebugRemoveAllParameters,
eGUIHelperResetCamera,
eGUIHelperChangeGraphicsInstanceFlags,
};
#include <stdio.h>
@@ -1045,6 +1046,21 @@ public:
workerThreadWait();
}
int m_graphicsInstanceFlagsInstanceUid;
int m_graphicsInstanceFlags;
virtual void changeInstanceFlags(int instanceUid, int flags)
{
m_graphicsInstanceFlagsInstanceUid = instanceUid;
m_graphicsInstanceFlags = flags;
m_cs->lock();
m_cs->setSharedParam(1, eGUIHelperChangeGraphicsInstanceFlags);
workerThreadWait();
}
int m_graphicsInstanceChangeScaling;
double m_baseScaling[3];
virtual void changeScaling(int instanceUid, const double scaling[3])
@@ -2244,6 +2260,13 @@ void PhysicsServerExample::updateGraphics()
break;
}
case eGUIHelperChangeGraphicsInstanceFlags:
{
m_multiThreadedHelper->m_childGuiHelper->changeInstanceFlags(m_multiThreadedHelper->m_graphicsInstanceFlagsInstanceUid, m_multiThreadedHelper->m_graphicsInstanceFlags);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceScaling:
{
B3_PROFILE("eGUIHelperChangeGraphicsInstanceScaling");