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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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134
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -68,7 +68,7 @@ struct TinyRendererVisualShapeConverterInternalData
btAlignedObjectArray<unsigned char> m_checkeredTexels;
int m_uidGenerator;
int m_upAxis;
int m_swWidth;
int m_swHeight;
@@ -94,8 +94,7 @@ struct TinyRendererVisualShapeConverterInternalData
SimpleCamera m_camera;
TinyRendererVisualShapeConverterInternalData()
: m_uidGenerator(1),
m_upAxis(2),
: m_upAxis(2),
m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH, START_HEIGHT, TGAImage::RGB),
@@ -711,11 +710,12 @@ static btVector4 sGoogleyColors[4] =
int TinyRendererVisualShapeConverter::convertVisualShapes(
int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
const UrdfLink* linkPtr, const UrdfModel* model, int unused,
const UrdfLink* linkPtr, const UrdfModel* model, int orgGraphicsUniqueId,
int bodyUniqueId, struct CommonFileIOInterface* fileIO)
{
int uniqueId = m_data->m_uidGenerator++;
int uniqueId = orgGraphicsUniqueId;
btAssert(orgGraphicsUniqueId >= 0);
btAssert(linkPtr); // TODO: remove if (not doing it now, because diff will be 50+ lines)
if (linkPtr)
{
@@ -926,13 +926,17 @@ int TinyRendererVisualShapeConverter::convertVisualShapes(
}
int TinyRendererVisualShapeConverter::addVisualShape(
b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO)
b3VisualShapeData* visualShape, struct CommonFileIOInterface* fileIO, int orgGraphicsUniqueId,
int bodyUniqueId, int linkIndex)
{
int uniqueId = m_data->m_uidGenerator++;
int uniqueId = orgGraphicsUniqueId;
visualShape->m_openglTextureId = -1;
visualShape->m_tinyRendererTextureId = -1;
visualShape->m_textureUniqueId = -1;
b3ImportMeshData meshData;
float rgbaColor[4] = { 1,1,1,1 };
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(
visualShape->m_meshAssetFileName, meshData, fileIO))
{
@@ -952,6 +956,10 @@ int TinyRendererVisualShapeConverter::addVisualShape(
{
visualShape->m_rgbaColor[3] = 1;
}
for (int i = 0; i < 4; i++)
{
rgbaColor[i] = meshData.m_rgbaColor[i];
}
}
}
@@ -968,7 +976,7 @@ int TinyRendererVisualShapeConverter::addVisualShape(
}
// meshData.m_gfxShape is allocated by a helper function used to create visualShape,
// but is not needed in this use case here
delete meshData.m_gfxShape;
}
btAlignedObjectArray<b3VisualShapeData>* shapes =
@@ -979,10 +987,87 @@ int TinyRendererVisualShapeConverter::addVisualShape(
btAlignedObjectArray<b3VisualShapeData>());
shapes = m_data->m_visualShapesMap[visualShape->m_objectUniqueId];
}
//////////////
if (meshData.m_gfxShape)
{
if (meshData.m_gfxShape->m_numvertices && meshData.m_gfxShape->m_numIndices)
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer, m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, -1, -1);
//those are primary soft bodies, possibly cloth, make them double-sided by default
tinyObj->m_doubleSided = true;
{
B3_PROFILE("registerMeshShape");
tinyObj->registerMeshShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
rgbaColor,
meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
}
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[uniqueId];
if (visualsPtr == 0)
{
m_data->m_swRenderInstances.insert(uniqueId, new TinyRendererObjectArray);
}
visualsPtr = m_data->m_swRenderInstances[uniqueId];
if (visualsPtr && *visualsPtr)
{
TinyRendererObjectArray* visuals = *visualsPtr;
if (visuals)
{
visuals->m_linkIndex = linkIndex;
visuals->m_objectUniqueId = bodyUniqueId;
visuals->m_renderObjects.push_back(tinyObj);
}
}
}
delete meshData.m_gfxShape;
}
shapes->push_back(*visualShape);
return uniqueId;
}
void TinyRendererVisualShapeConverter::updateShape(int shapeUniqueId, const btVector3* vertices, int numVertices)
{
TinyRendererObjectArray** visualsPtr = m_data->m_swRenderInstances[shapeUniqueId];
if (visualsPtr != 0)
{
TinyRendererObjectArray* visuals = *visualsPtr;
if (visuals->m_renderObjects.size() == 1)
{
TinyRenderObjectData* renderObj = visuals->m_renderObjects[0];
if (renderObj->m_model->nverts() == numVertices)
{
TinyRender::Vec3f* verts = renderObj->m_model->readWriteVertices();
//just do a sync
for (int i = 0; i < numVertices; i++)
{
verts[i].x = vertices[i][0];
verts[i].y = vertices[i][1];
verts[i].z = vertices[i][2];
}
}
}
}
}
int TinyRendererVisualShapeConverter::getNumVisualShapes(int bodyUniqueId)
{
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
@@ -1008,6 +1093,37 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
return 1;
}
void TinyRendererVisualShapeConverter::changeInstanceFlags(int bodyUniqueId, int linkIndex, int shapeIndex, int flags)
{
bool doubleSided = (flags & 4) != 0;
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
if (!shapes)
{
return;
}
int start = -1;
for (int i = 0; i < m_data->m_swRenderInstances.size(); i++)
{
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
if (ptrptr && *ptrptr)
{
TinyRendererObjectArray* visuals = *ptrptr;
if ((bodyUniqueId == visuals->m_objectUniqueId) && (linkIndex == visuals->m_linkIndex))
{
for (int q = 0; q < visuals->m_renderObjects.size(); q++)
{
if (shapeIndex < 0 || q == shapeIndex)
{
visuals->m_renderObjects[q]->m_doubleSided = doubleSided;
}
}
}
}
}
}
void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, int shapeIndex, const double rgbaColor[4])
{
btAlignedObjectArray<b3VisualShapeData>* shapes = m_data->m_visualShapesMap[bodyUniqueId];
@@ -1376,6 +1492,8 @@ void TinyRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniq
void TinyRendererVisualShapeConverter::resetAll()
{
for (int i = 0; i < m_data->m_swRenderInstances.size(); i++)
{
TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);